Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors

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Abstract

Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is still not solved. In this paper we present a novel method to implement bodily awareness into soft robots by the integration of exteroceptive and proprioceptive sensors. We use a combination of a stacked convolutional autoencoder and a recurrent neural network to map internal sensory signals to visual information. As a result, the simulated soft robot can learn to imagine its motion even when its visual sensor is not available.
Original languageEnglish
Publication statusUnpublished - 15 Nov 2017
EventConference on Robot Learning 2017 - Mountain View, United States
Duration: 13 Nov 201715 Nov 2017
Conference number: 1st

Conference

ConferenceConference on Robot Learning 2017
Abbreviated titleCoRL 2017
CountryUnited States
CityMountain View
Period13/11/1715/11/17

Structured keywords

  • Tactile Action Perception

Keywords

  • soft robots
  • bodily awareness
  • proprioception

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