PUB - Publikationen an der Universität Bielefeld

As an important interdisciplinary concept, body schemas attract more and more attention in the field of robotics. Originating from developmental psychology and computational neuroscience, body schemas comprise many developmental and adaptive mechanisms, that have inspired and extended traditional robotics research approaches. Important questions include: How to develop adaptive kinematics representations that facilitate robot motion planning? How the body schema can be exploited to interact with unknown environments? In this paper, we will focus on the latter question and propose a controller framework integrating multi-modal feedback for unknown object exploration.