Springer Handbook of Robotics: Chapter 62
نویسندگان
چکیده
The lay view of a robot is a mechanical human, and thus robotics has always been inspired by attempts to emulate biology. In this Chapter, we extend this biological motivation from humans to animals more generally, but with a focus on the central nervous systems rather than the bodies of these creatures. In particular, we investigate the sensorimotor loop in the execution of sophisticated behavior. Some of these sections concentrate on cases where vision provides key sensory data. Neuroethology is the study of the brain mechanisms underlying animal behavior, and Sect. 62.2 exemplifies the lessons it has to offer robotics by looking at optic flow in bees, visually guided behavior in frogs, and navigation in rats, turning then to the coordination of behaviors and the role of attention. Brains are composed of diverse subsystems, many of which are relevant to robotics, but we have chosen just two regions of the mammalian brain for detailed analysis. Section 62.3 presents the cerebellum. While we can plan and execute actions without a cerebellum, the actions are no longer graceful and become uncoordinated. We reveal how a cerebellum can provide a key ingredient in an adaptive control system, tuning parameters both within and between motor schemas. Section 62.4 turns to the mirror system, which provides shared representations which bridge between the execution of an action and the observation of that action when performed by others. We develop a neurobiological model of how learning may forge mirror neurons for hand 62.1 Definitions ........................................... 1453
منابع مشابه
Springer Handbook of Robotics: Chapter 30
The word haptics, believed to be derived from the Greek word haptesthai, means related to the sense of touch. In the psychology and neuroscience literature, haptics is the study of human touch sensing, specifically via kinesthetic (force/position) and cutaneous (tactile) receptors, associated with perception and manipulation. In the robotics and virtual reality literature, haptics is broadly de...
متن کاملNotes to Accompany the Slides
Preamble The course is aimed at people who already know how to do elementary rigid-body dynamics using 3D vectors. It follows the treatment of spatial vectors appearing in the book Rigid Body Dynamics Algorithms, which should be consulted for more details. Another source that may be useful is the Springer Handbook of Robotics, Chapter 2. Other materials relating to this course can be found on D...
متن کاملSpringer Handbook of Robotics: Chapter 10
This chapter is devoted to the design of robots, with a focus on serial architectures. In this regard, we start by proposing a stepwise design procedure; then, we recall the main issues in robot design. These issues pertain to workspace geometry, the kinetostatic, the dynamic, the elastostatic, and elastodynamic performance. In doing this, the mathematics behind the concepts addressed is briefl...
متن کاملSpringer Handbook of Robotics: Chapter 32
Telerobots, remotely controlled robots, are widely used to explore undersea terrains and outer space, to defuse bombs, and to clean up hazardous waste. Until 1994, telerobots were accessible only to trained and trusted experts through dedicated communication channels. This chapter describes networked telerobots, a new class of telerobots controllable over networks such as the Internet, that are...
متن کامل