Rapid learning of humanoid body schemas with Kinematic Bézier Maps

This paper addresses the problem of hand-eye coordination and, more specifically, tool-eye recalibration of humanoid robots. Inspired by results from neuroscience, a novel method to learn the forward kinematics model as part of the body schema of humanoid robots is presented. By making extensive use of techniques borrowed from the field of computer-aided geometry, the proposed kinematic Bezier maps (KB-Maps) permit reducing this complex problem to a linearly-solvable, although high-dimensional, one. Therefore, in the absence of noise, an exact kinematic model is obtained. This leads to rapid learning which, unlike in other approaches, is combined with good extrapolation capabilities. These promising theoretical advantages have been validated through simulation, and the applicability of the method to real hardware has been demonstrated through experiments on the humanoid robot ARMAR-IIIa.