Evolution of prehension ability in an anthropomorphic neurorobotic arm
In this paper, we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction betw...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2007-11-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/Journal/10.3389/neuro.12.004.2007/full |
| _version_ | 1818133927175389184 |
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| author | Gianluca Massera Gianluca Massera Angelo Cangelosi Stefano Nolfi |
| author_facet | Gianluca Massera Gianluca Massera Angelo Cangelosi Stefano Nolfi |
| author_sort | Gianluca Massera |
| collection | DOAJ |
| description | In this paper, we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot's body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators and the compliance of its actuated joints) and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules. |
| first_indexed | 2024-12-11T09:00:30Z |
| format | Article |
| id | doaj.art-00a02ee6c4ad431599a6e9d93f60a39b |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-11T09:00:30Z |
| publishDate | 2007-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-00a02ee6c4ad431599a6e9d93f60a39b2022-12-22T01:13:46ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182007-11-01110.3389/neuro.12.004.2007110Evolution of prehension ability in an anthropomorphic neurorobotic armGianluca Massera0Gianluca Massera1Angelo Cangelosi2Stefano Nolfi3Institute of Cognitive Science and Technologies, National Research Council (CNR)School of Computing, Communications and Electronics, University of PlymouthSchool of Computing, Communications and Electronics, University of PlymouthInstitute of Cognitive Science and Technologies, National Research Council (CNR)In this paper, we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot's body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators and the compliance of its actuated joints) and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules.http://journal.frontiersin.org/Journal/10.3389/neuro.12.004.2007/fulladaptationEvolutionary Roboticsreaching and graspingrobotic arm |
| spellingShingle | Gianluca Massera Gianluca Massera Angelo Cangelosi Stefano Nolfi Evolution of prehension ability in an anthropomorphic neurorobotic arm Frontiers in Neurorobotics adaptation Evolutionary Robotics reaching and grasping robotic arm |
| title | Evolution of prehension ability in an anthropomorphic neurorobotic arm |
| title_full | Evolution of prehension ability in an anthropomorphic neurorobotic arm |
| title_fullStr | Evolution of prehension ability in an anthropomorphic neurorobotic arm |
| title_full_unstemmed | Evolution of prehension ability in an anthropomorphic neurorobotic arm |
| title_short | Evolution of prehension ability in an anthropomorphic neurorobotic arm |
| title_sort | evolution of prehension ability in an anthropomorphic neurorobotic arm |
| topic | adaptation Evolutionary Robotics reaching and grasping robotic arm |
| url | http://journal.frontiersin.org/Journal/10.3389/neuro.12.004.2007/full |
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