DocumentCode :
1866417
Title :
Sensorimotor coupling via dynamic bayesian networks
Author :
Cagli, Ruben Coen ; Napoletano, Paolo ; Coraggio, Paolo ; Boccignone, Giuseppe ; De Santis, Agostino
Author_Institution :
Dept. of Neurosci., Yeshiva Univ., Bronx, NY
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
1582
Lastpage :
1587
Abstract :
In this paper we consider the problem of sensorimotor coordination in a Bayesian framework. To this end we introduce a novel kind of Dynamic Bayesian Network serving as the core tool to integrate active vision and task-constrained motor behaviors. The proposed system is put into work by addressing the challenging task of realistic drawing performed by a robotic agent, namely a 7-DOF anthropomorphic manipulator. Simulation results are compared to those obtained by eye-tracked human subjects involved in drawing experiments.
Keywords :
Bayes methods; anthropometry; hidden Markov models; manipulators; robot vision; active vision; anthropomorphic manipulator; dynamic Bayesian network; input-output coupled hidden Markov model; realistic drawing; robotic agent; sensorimotor coupling; task-constrained motor behavior; Anthropomorphism; Bayesian methods; Hidden Markov models; Humans; Layout; Manipulators; Redundancy; Robot kinematics; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543427
Filename :
4543427
Link To Document :
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