A cognitive robot equipped with autonomous tool innovation expertise

Robot Tool Behavior : a Developmental Approach to Autonomous Tool Use

Stiffness control of a legged robot equipped with a serial manipulator in stance phase

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation

While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools provide either realistic crowds without robots or realistic robots without realistic crowds. This paper introduces MengeROS, a flexible 2-dimensional simulator that realistic...

Autonomous Learning of Tool Affordances by a Robot

The ability to use tools is one of the hallmarks of intelligence. Tool use is fundamental to human life and has been for at least the last two million years. We use tools to extend our reach, to amplify our physical strength, to transfer objects and liquids, and to achieve many other everyday tasks. A large number of animals have also been observed to use tools (Beck 1980). Some birds, for exam...

View{based Cognitive Map Learning by a N Autonomous Robot

This paper presents a view based approach to map learning and nav igation in mazes By means of graph theory we have shown that the view graph is a su cient representation for map behaviour such as path planning A neural network for unsupervised learning of the view graph from sequences of views is constructed We use a modi ed Kohonen learning rule that transforms temporal sequence rather than f...