ALife in Humanoids: Developing a Framework to Employ Artificial Life Techniques for High-Level Perception and Cognition Tasks on Humanoid Robots
نویسندگان
چکیده
We describe our recent research and advances in building a framework enabling artifical life (ALife) systems on real robotic hardware. Our framework allows our iCub humanoid to build better visual perception, improve its motion capabilities and even provide a sense of proprioception. This paper presents how we can use various techniques, such as, e.g., genetic programming, to build subsystems for these specific areas. Our framework runs in parallel with the hardware system and is updated with new information from the real robot. We plan to use this framework in the future for developing higher cognitive tasks, such as, scene understanding, prediction of action outcomes, and reasoning on our robot.
منابع مشابه
Imitation-Based Task Programming on a Low-Cost Humanoid Robot
Humanoid robots are complex service platforms with anthropomorphic features, specifically designed for close interaction with humans. Conventional programming strategies are hardly applicable to humanoids due to the high number of degrees of freedom that must be coordinated concurrently. Therefore, exploiting humanoids’ potential in service tasks remains an elusive goal. One of the most promisi...
متن کاملHumanoid manipulation and locomotion with real-time footstep optimization. (Manipulation et locomotion en robotique humanoïde avec optimisation temps réel des pas)
This thesis focuses on realization of tasks with locomotion on hu-manoid robots. Thanks to their numerous degrees of freedom, humanoidrobots possess a very high level of redundancy. On the other hand,humanoids are underactuated in the sense that the position and ori-entation of the base are not directly controlled by any motor. Thesetwo aspects, usually studied separately in...
متن کاملExpanding Frontiers of Humanoid Robotics
Mobile robots pose a unique set of challenges to artificial intelligence researchers. Such challenges include issues of autonomy, uncertainty (both sensing and control), and reliability, which are all constrained by the discipline that the real world imposes. Planning, sensing, and acting must occur in concert and in context. That is, information processing must satisfy not only the constraints...
متن کاملA multitasking architecture for humanoid robot programming
We propose a hierarchical, three-tiered motion programming architecture for humanoid robots that allows for the prioritized coordination of multiple tasks while taking into account the dynamics and other physics-based constraints that underlie typical humanoid robot tasks. We first introduce a data structure for generic humanoid robots based on a general description of what constitutes a humano...
متن کاملThe VIKI Humanoid - - an example of embodied AI
As an example of a modern approach to artificial intelligence that puts emphasis on the balance between control, electronic hardware, material, sensory system and energy, we developed the Viki humanoid robots. In contrast to the top-down approach of equipping a humanoid with as many sensors, motors, power, etc. as possible, we developed a bottom-up approach to the construction of humanoids. The...
متن کامل