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.
|Publication status||Unpublished - 15 Nov 2017|
|Event||Conference on Robot Learning 2017 - Mountain View, United States|
Duration: 13 Nov 2017 → 15 Nov 2017
Conference number: 1st
|Conference||Conference on Robot Learning 2017|
|Abbreviated title||CoRL 2017|
|Period||13/11/17 → 15/11/17|
- Tactile Action Perception
- soft robots
- bodily awareness
Soter, G., Rossiter, J., Conn, A., & Hauser, H. (2017). Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors. Poster session presented at Conference on Robot Learning 2017, Mountain View, United States.