G. Asuni

TL;DR: A sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping.

TL;DR: In this article, a robot capable of gripping an object without surely grasping a shape and the like of the object to be gripped is described, and a hand part having at least two fingers, a group of contact sensors arranged to each finger and detecting the contact between a predetermined portion of each of the fingers and a gripping object, prediction means for inputting shape information describing at least a shape of the gripping object and predicting a groups of signals outputted from the group of the contact sensors when the hand part grips the object, and hand control means for controlling actions of each finger in

TL;DR: Experimental trials confirmed the system capability to control the gaze direction and fixation point and to manage the redundancy of the robotic head in reaching the target fixation point even with additional constraints, such as a clamped joint or two symmetric joint angles.

TL;DR: A sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach for and to grasp an object, while pre-shaping the fingers to the required grasp configuration.

TL;DR: A neural model for visuo-motor coordination of a redundant robotic manipulator in reaching tasks based on a biologically-inspired model, which replicates the human brain capability of creating associations between motor and sensory data, by learning is presented.