Revisited Passive Motion Paradigm for complex actions

iCub is able to reach objects avoiding obstacles on the basis of virtual force fields. We exploited and improved the idea behind the so called "Passive Motion Paradigm". Each target is represented by an attractive force field, whereas each obstacle is modeled as a repulsive force field. The combination of all the active force fields generates a trajectory that iCub can follow. Each complex action such as "move the octopus on the cube" can be split into more simple actions ("grasp", "reach", "release"). In this video iCub moves the octopus on the cube, then it moves a ball avoiding the octopus, and finally it grasps and moves a bottle avoiding the octopus.

Credits: Ilaria Gori, Ugo Pattacini

Category:

Science & Technology

Tags:

• iCub
• IIT
• cognitivie
• humanoids
• robot