Towards a Learnt Neural Body Schema for Dexterous Coordination of Action in Humanoid and Industrial Robots
Authors: Bhat A. A., Mohan V., Akkaladevi S. C., Eitzinger C., Sandini G., & Morasso P.
Journal: Autonomous Robots
Tags: body-schema, motor-control, PMP, cognitive, robotics
Link: URL
Abstract:
We describe a neural framework that learns a distributed body schema enabling simultaneous control of multiple limbs or tools. Forward simulations inform real-time motor plans, resolving redundancy by well-posed field computations rather than inverse kinematics.
Methodology:
Self-organizing maps encode joint and tool configurations. A hub layer integrates modalities. Task constraints inject attractor fields. Motor commands arise from minimizing prediction error via passive motion paradigm. Validated on iCub (53 DoF) and industrial arms.