Generating Pointing Motions for a Humanoid Robot by Combining Motor Primitives.

ABSTRACT: The human motor system is robust, adaptive and very flexible. The underlying principles of human motion provide inspiration for robotics. Pointing at different targets is a common robotics task, where insights about human motion can be applied. Traditionally in robotics, when a motion is generated it has to be validated so that the robot configurations involved are appropriate. The human brain, in contrast, uses the motor cortex to generate new motions reusing and combining existing knowledge before executing the motion. We propose a method to generate and control pointing motions for a robot using a biological inspired architecture implemented with spiking neural networks. We outline a simplified model of the human motor cortex that generates motions using motor primitives. The network le

SUBMITTER: Tieck JCV 

PROVIDER: S-EPMC6759768 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature