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Developing Motor Skills for Reaching by Progressively Unlocking Degrees of Freedom on the iCub Humanoid Robot

Ramirez-Contla, Salomon ; Cangelosi, Angelo ; Marocco, Davide



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Abstract:
To explore development of motor skills for reaching in the iCub robot, we test the capabilities for a neural network controller to learn progressively by locking some degrees of freedom (DOF) of the robot's arm before allowing it to explore the space with more DOF's. We consider exploration and bio-inspired mechanisms can aid in the development of control of the iCub robot arm. Results suggest the advantage of progressive development over an initial full training, also, these pointed out the importance of interaction with the world and the necessity of trial and error occurring in a time lapse for developing of reaching skills.


Keywords: degrees of freedom , motor skills , development , epigenetic robotics
Institution: Faculty of Technology, Research Groups in Informatics
DDC classification: Data processing, computer science, computer systems

Suggested Citation:
Ramirez-Contla, Salomon ; Cangelosi, Angelo ; Marocco, Davide  (2012)  Developing Motor Skills for Reaching by Progressively Unlocking Degrees of Freedom on the iCub Humanoid Robot.


URL: http://biecoll.ub.uni-bielefeld.de/volltexte/2012/5241



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