Learning peripersonal space representation through artificial skin for avoidance and reaching with whole body surface

TitleLearning peripersonal space representation through artificial skin for avoidance and reaching with whole body surface
Publication TypeConference Paper
Year of Publication2015
AuthorsRoncone A, Hoffmann M, Pattacini U, Metta G
Conference NameIntelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
PublisherIEEE
Conference LocationHamburg
Abstract

Abstract—With robots leaving factory environments and entering less controlled domains, 

possibly sharing living space with humans, safety needs to be guaranteed. To this end, 

some form of awareness of their body surface and the space surrounding it is desirable. In 

this work, we present a unique method that lets a robot learn a distributed representation of 

space around its body (or peripersonal space) by exploiting a whole-body artificial skin and 

through physical contact with the environment. Every taxel (tactile element) has a visual ...