Insect-Inspired Body Size Learning Model on a Humanoid Robot

Paolo Arena; Luca Patané; Dario Sanalitro; Alessandra Vitanza

doi:10.1109/BIOROB.2018.8487635

Insect-Inspired Body Size Learning Model on a Humanoid Robot

Paolo Arena, Luca Patané, Dario Sanalitro, Alessandra Vitanza

IRCCS Casa Sollievo della Sofferenza

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper an insect-inspired body size learning algorithm is adopted in a humanoid robot and a control system, mainly developed with spiking neurons, is proposed. It implements an evaluation of distances by using the typical parallax method performed by different insect species, such as Drosophila melanogaster. A Darwin-OP robot was used as testbed to demonstrate the potential application of the learning method on a humanoid structure. The robot, equipped with a hand extension, was free to move in an environment to discover objects. As consequence, it was able to learn, using an operant conditioning, which objects can be reached, via the estimation of their distance on varying the length of the equipped tool. The learning scheme was tested both in a dynamical simulation environment and with the Darwin-OP robot.

Original language	English
Title of host publication	BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE Computer Society
Pages	1127-1132
Number of pages	6
Volume	2018-August
ISBN (Electronic)	9781538681831
DOIs	https://doi.org/10.1109/BIOROB.2018.8487635
Publication status	Published - Oct 9 2018
Event	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 - Enschede, Netherlands Duration: Aug 26 2018 → Aug 29 2018

Conference

Conference	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Country	Netherlands
City	Enschede
Period	8/26/18 → 8/29/18

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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10.1109/BIOROB.2018.8487635

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Insect-Inspired Body Size Learning Model on a Humanoid Robot. / Arena, Paolo; Patané, Luca; Sanalitro, Dario; Vitanza, Alessandra.

BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Vol. 2018-August IEEE Computer Society, 2018. p. 1127-1132 8487635.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Arena, P, Patané, L, Sanalitro, D & Vitanza, A 2018, Insect-Inspired Body Size Learning Model on a Humanoid Robot. in BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. vol. 2018-August, 8487635, IEEE Computer Society, pp. 1127-1132, 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, Enschede, Netherlands, 8/26/18. https://doi.org/10.1109/BIOROB.2018.8487635

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