iCub learning hand-eye coordination

This video shows the Aberystwyth iCub robot learning hand-eye coordination. Initially the robot has no control over any of its motors, and gradually learns to control its eyes, neck and arms. By the end of the session the robot is able to locate and press the 3 buttons in front of it.

The learning process is modeled on that of human infants, and follows a series of staged development. In comparison to more traditional techniques learning is very fast: the above sequence was recorded over a period of around one hour. For more information visit http://www.im-clever.eu/

Category:

Science & Technology

Tags:

• iCub
• humanoid
• robot
• Aberystwyth
• IM-CLeVeR

[wlorenz65]

Didn't he find out that there is a shorter way to move the hand from one button to the next? OK, one hour is not much ...

[DrJLaw]

@wlorenz65 At this stage the iCub is only learning position control (trajectory control is in development). The exaggerated elbow flex between reaches is to ensure the robot does not damage itself by making contact with the board.

[XxScarTheWolfXx]

aww is she supposed to be a bear cub or just a name? <:3

[Dirtfire]

@wlorenz65 well, there is a video on youtube, posted a few months ago, where the creators of the Icub talk about artificial skin, what the Icub uses, and what they plan to use for it in the future.

It's a long video compared to the other Icub clips, so it shouldn't be hard to find.

[wlorenz65]

@Dirtfire When it has crashed into the table it's too late. A fairly obvious initial-step for an advanced robot with arms is a virtual skin and to let it learn the laws of the physical world within a simulator. Or in short, vision is there to predict touch.

[Dirtfire]

@Dirtfire determine the positions of joints without using the eyes, I mean. Clearly this is what it does already. DrJLaw makes a vague reference to that.

[Dirtfire]

@wlorenz65 I don't know much about robotics, but I think robots like the Icub here, and the PR2, are able to determine the positions of their joints. They could detect arm-collisions with objects by measuring joint-position in relation to what the motors are trying to do.

This is probably what these robots do already, as it seems to me a fairly obvious initial-step for an advanced robot with arms.

[wlorenz65]

@Dirtfire Only when there's nothing in the way.

[Dirtfire]

@wlorenz65 It does have touch-sensors on its fingers. But you don't need to skin to know where your arm is.

I find this really fascinating. Amazing stuff!

[wlorenz65]

@DrJLaw Well, learning without having a skin is hard. There is a video v=YnYzh-xR3X0 from a German TV station saying that skin will come in mid-2012. Will you add skin to your iCub when it's available then?