Body Schema in Autonomous Agents

A Hybrid Hierarchical Schema-Based Architecture for Distributed Autonomous Agents

The advent of inexpensive computers has spurred interest in distributed architectures, in which a cluster of low-cost cornpeters can achieve performance on the same scale as expensive super-computers. The goal of research in distributed systems is to take a highly decomposable problem solution, and put that solution into a framework that allows the system to take full advantage of the sohition’...

The ALIVE system: full-body interaction with autonomous agents

Body Schema and Robotics

Active body schema learning

Humanoid and industrial robots are becoming increasingly complex. Most of the algorithms to control these systems require, or are improved with, a full kinematic model of the system. In this work, we are interested in autonomously learning the kinematic description, a.k.a. body schema, for unknown systems. Even for a calibrated system, the ability to continuously tune its parameters allows the ...

Body Schema Learning

This chapter describes how the kinematic models of a manipulation robot can be learned, calibrated, monitored and adapted automatically using the perception and actuation capabilities provided by the robot’s middleware. The presented technology requires only minimal human intervention by building on the concepts of self-observation and non-parametric learning. Specifically, the approach is to l...