Ecological Robotics: Controlling Behavior with Optical Flow
نویسندگان
چکیده
There are striking parallels between ecological psychology and new trends in robotics and computer vision, particularly regarding how agents interact with the environment. We present some ideas from ecological psychology, including control laws using optical flow, affordances and action modes, and describe our implementation of these concepts in a small mobile robot which can avoid obstacles and play tag solely using optical flow. This work ties in with those of others arguing for a methodological approach in robotics which foregoes a central model/planner. Ecological psychology may not only contribute to robotics, but robotic implementations in turn provide a test bed for ecological principles and sources of ideas which could be tested in animals and humans.
منابع مشابه
Ecological Robotics: Controlling Behavior with Optic Flow
There is a close relationship between ecological psychology and behavior-based robotics. One point of intersection between these two fields is the investigation of control laws, specifically those based on optic flow. As a demonstration of this, we have implemented control laws (inspired by work on flies) that produce behaviors relevant to the game of tag, a form of predator-prey interaction. T...
متن کاملEcological Robotics
There are striking parallels between ecological psychology and the new trends in robotics and computer vision, particularly regarding how agents interact with the environment. We present some' ideas from ecological psychology, including control laws using optic flow, affordances, and action modes, and describe our implementation of these concepts in two mobile robots that can avoid obstacles an...
متن کاملMobile Robots with Panoramic Sensors
I n its continuous attempt to build intelligent artificial creatures, robotics has often been inspired by nature. Particularly interesting is the remarkable variety of lightsensing structures and information processing strategies occurring in animal visual systems. The physiology of these systems appears to have been influenced, through evolution, by the ecological niche and lifestyle of each a...
متن کاملAutonomous car driving by a humanoid robot
Enabling a humanoid robot to drive a car, requires the development of a set of basic primitive actions. These include: walking to the vehicle, manually controlling its commands (e.g., ignition, gas pedal and steering), and moving with the whole-body, to ingress/egress the car. In this paper, we present a sensorbased reactive framework for realizing the central part of the complete task, consist...
متن کاملLearning Optical Flow from Real Robot Data
This project presents a method for teaching robot arms optical flow. By extending recent works on depth based, probabilistic robot tracking, a novel real-world optical flow dataset with dense ground truth annotation is generated. A real, robotic dataset boasts the inclusion of phenomena that synthetic datasets cannot model. With this data a generic convolutional neural network is implemented to...
متن کامل