Forward models applied in visual servoing for a reaching task in the iCub humanoid robot

• Main Authors: Gamarra, Daniel Fernando Tello, Pinpin, Lord Kenneth M., Laschi, Cecilia, Dario, Paolo
• Format: text
• Published: Animo Repository 2009
• Subjects: Androids; Robotics; Neural networks (Computer science); Servomechanisms; Artificial Intelligence and Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/12789
• Institution: De La Salle University

This paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f.) and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that e...