Construction of robotic body schema by extracting temporal information from sensory inputs

Komei Sugiura, Daisuke Matsubara, Osamu Katai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes a method that incrementally develops the "body schema" of a robot. The method has three features: 1) estimation of light-sensor positions based on the Time Difference of Arrival (TDOA) of signals and multidimensional scaling (MDS); 2) incremental update of the estimation; and 3) no additional equipment. We carried out simulation experiments in which a mobile robot moves around environments or follows another robot. Each robot has several light sensors that collect data from which cross-correlation functions are derived and the TDOA is computed. Experimental results show that our method can estimate the positions of sensors deployed on the body and identify the sensors on the same part of the body.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages302-307
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Keywords

  • Cross-correlation
  • Embodiment
  • Incremental mapping
  • Localization
  • Robotic body schema

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Construction of robotic body schema by extracting temporal information from sensory inputs'. Together they form a unique fingerprint.

  • Cite this

    Sugiura, K., Matsubara, D., & Katai, O. (2006). Construction of robotic body schema by extracting temporal information from sensory inputs. In 2006 SICE-ICASE International Joint Conference (pp. 302-307). [4108844] (2006 SICE-ICASE International Joint Conference). https://doi.org/10.1109/SICE.2006.315696