Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch

Li Q, Haschke R, Ritter H (2015)
Presented at the Humanoids2015, Seoul,Korea.

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Conference Paper | Published | English
Abstract
Striving for an autonomous self-exploration of robots to learn their own body schema, i.e. body shape and appearance, kinematic and dynamic parameters, association of tactile stimuli to specific body locations, etc., we developed a tactile-servoing feedback controller that allows a robot to continuously acquire self-touch information while sliding a fingertip across its own body. In this manner one can quickly acquire a large amount of training data representing the body shape. We compare three approaches to track the common contact point observed when one robot arm is touching the other in a bimanual setup: feedforward control, solely relying on a coarse CAD-based kinematics performs worst, a solely feedback-based controller typically lacks behind, and only the combination of both approaches yields satisfactory tracking results. As a first, preliminary application, we use this self-touch capability to calibrate the closed kinematic chain formed by both arms touching each other. The obtained homogeneous transform describing the relative mounting pose of both arms improves end-effector position estimations by a magnitude.
Publishing Year
Conference
Humanoids2015
Location
Seoul,Korea
Conference Date
2015-11-03 – 2015-11-05
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Li Q, Haschke R, Ritter H. Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch. Presented at the Humanoids2015, Seoul,Korea.
Li, Q., Haschke, R., & Ritter, H. (2015). Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch. Presented at the Humanoids2015, Seoul,Korea.
Li, Q., Haschke, R., and Ritter, H. (2015).“Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch”. Presented at the Humanoids2015, Seoul,Korea.
Li, Q., Haschke, R., & Ritter, H., 2015. Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch. Presented at the Humanoids2015, Seoul,Korea.
Q. Li, R. Haschke, and H. Ritter, “Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch”, Presented at the Humanoids2015, Seoul,Korea, IEEE, 2015.
Li, Q., Haschke, R., Ritter, H.: Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch. Presented at the Humanoids2015, Seoul,Korea (2015).
Li, Qiang, Haschke, Robert, and Ritter, Helge. “Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch”. Presented at the Humanoids2015, Seoul,Korea, IEEE, 2015.
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