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

Komei Sugiura, Daisuke Matsubara, Osamu Katai

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 SICE-ICASE International Joint Conference
ページ302-307
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
外部発表はい
イベント2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
継続期間: 2006 10月 182006 10月 21

出版物シリーズ

名前2006 SICE-ICASE International Joint Conference

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 電子工学および電気工学

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