Insect-Inspired Body Size Learning Model on a Humanoid Robot

Paolo Arena, Luca Patané, Dario Sanalitro, Alessandra Vitanza

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
Pages1127-1132
Number of pages6
Volume2018-August
ISBN (Electronic)9781538681831
DOIs
Publication statusPublished - Oct 9 2018
Event7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 - Enschede, Netherlands
Duration: Aug 26 2018Aug 29 2018

Conference

Conference7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
CountryNetherlands
CityEnschede
Period8/26/188/29/18

Fingerprint

Robots
End effectors
Testbeds
Learning algorithms
Neurons
Control systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

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, pp. 1127-1132). [8487635] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8487635

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 proceedingConference 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
Arena P, Patané L, Sanalitro D, Vitanza A. 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. IEEE Computer Society. 2018. p. 1127-1132. 8487635 https://doi.org/10.1109/BIOROB.2018.8487635
Arena, Paolo ; Patané, Luca ; Sanalitro, Dario ; Vitanza, Alessandra. / Insect-Inspired Body Size Learning Model on a Humanoid Robot. BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Vol. 2018-August IEEE Computer Society, 2018. pp. 1127-1132
@inproceedings{050071fb592741e0a8914427c3d724bd,
title = "Insect-Inspired Body Size Learning Model on a Humanoid Robot",
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.",
author = "Paolo Arena and Luca Patan{\'e} and Dario Sanalitro and Alessandra Vitanza",
year = "2018",
month = "10",
day = "9",
doi = "10.1109/BIOROB.2018.8487635",
language = "English",
volume = "2018-August",
pages = "1127--1132",
booktitle = "BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics",
publisher = "IEEE Computer Society",

}

TY - GEN

T1 - Insect-Inspired Body Size Learning Model on a Humanoid Robot

AU - Arena, Paolo

AU - Patané, Luca

AU - Sanalitro, Dario

AU - Vitanza, Alessandra

PY - 2018/10/9

Y1 - 2018/10/9

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85056602781&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85056602781&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2018.8487635

DO - 10.1109/BIOROB.2018.8487635

M3 - Conference contribution

VL - 2018-August

SP - 1127

EP - 1132

BT - BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics

PB - IEEE Computer Society

ER -