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Touch perception is an important sense to model in humanoid robots to interact physically and socially with humans. We present a neural controller that can adapt the compliance of the robot arm in four directions using as input the tactile information from an artificial skin and as output the estimated torque for admittance control-loop reference. This adaption is done in a self-organized fashion...
The learning of sensorimotor primitives in an open-ended manner is important to achieve all the possible tasks a robot can do, even those never experienced before. In this short paper, we propose a neural architecture called Dynamic Sensorimotor Model (DSM) (1) that learn co-variation rules between sensors and motors for sensorimotor prediction, (2) use these predictions for action planning. This...
We explore different strategies to overcome the problem of sensorimotor transformation that babies face during development, especially in the case of tool-use. From a developmental perspective, we investigate a model based on absolute coordinate frames of reference, and another one based on relative coordinate frames of reference. In a situation of sensorimotor learning and of adaptation to tool-use,...
The so-called self–other correspondence problem in imitation demands to find the transformation that maps the motor dynamics of one partner to our own. This requires a general purpose sensorimotor mechanism that transforms an external fixation-point (partner’s shoulder) reference frame to one’s own body-centered reference frame. We propose that the mechanism of gain-modulation observed in parietal...
We propose a developmental scenario for explaining neonatal imitation. We hypothesize that the early maturation of the superior colliculus (SC) at the fetal period may strongly contribute to the construction of the social brain. We underly two mechanisms in SC potentially important which are (1) spatial topological organization of the unisensory modalities and (2) the conformed sensory alignment between...
This paper proposes a low-cost system, based on the method of Electrical Impedance Tomography (EIT), for data acquisition from soft conductive fabric, for the purposes of designing of robots artificial skin. A simple multiplexer/ demultiplexer circuit is used for retrieving the resistance field from the pair-wised electrodes which inject the electrical current and the electrodes which measure the...
Seeing is not just done through the eyes, it involves the integration of other modalities such as auditory, proprioceptive and tactile information, to locate objets, persons and also the limbs. We hypothesize that the neural mechanism of gain-field modulation, which is found to process coordinate transform between modalities in the superior colliculus and in the parietal area, plays a key role to...
In this paper, we attempt to reconciliate two views of spatial development based on two mechanisms of statistical learning and of sensory alignment. Conflicting results in developmental psychology attribute either a developmental period to spatial cognition (Piaget). Besides, these results conflict with other researches in which infants do demonstrate good coordination and coherence across modalities...
Infants present impressive developmental changes during the first year in almost all domains marked by memory categorization and variability. We propose that one important actor for this developmental shift is the cholinergic innervation of the cortico-hippocampal circuits. Based on neurological observations and developmental studies done in infants, we model how the neuromodulator acetylcholine could...
The motion behaviors of vertebrates require the correct coordination of the muscles and of the body limbs even for the most stereotyped ones like the rhythmical patterns. It means that the neural circuits have to share some part of the control with the material properties and the body morphology in order to rise any of these motor synergies. To this respect, the chemical downward neuromodulators that...
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