Limb Movement in Dynamic Situations Based on Generalized Cognitive Maps



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Villacorta-Atienza, José Antonio and Calvo, Carlos and Lobov, S. and Makarov, Valeri A. (2017) Limb Movement in Dynamic Situations Based on Generalized Cognitive Maps. Mathematical Modelling of Natural Phenomena, 12 (4). pp. 15-29. ISSN 0973-5348

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The fundamental bases of how our brain solves different tasks of object manipulation remain largely unknown. Here we consider the problem of the limb movement in dynamic situations on an abstract cognitive level and propose a novel approach relying on: i) transformation of the problem from the limb workspace to the so-called hand-space, and ii) construction of a generalized cognitive map (GCM) in the hand-space. The GCM provides a trajectory that can be followed by the limb, which ensures an efficient collision-free movement and target catching in the workspace. Our numerical simulations confirm the approach feasibility but also reveal the problem complexity. We then validate the GCM-based solutions in real-life scenarios. We show that a GCM-equipped humanoid robot can catch a fly ball in a similar way as a human subject does. The static nature of the GCMs enables learning and automation of sophisticated cognitive behaviors exhibited by humans.

Item Type:Article
Uncontrolled Keywords:Cognitive models; Robot manipulators; Internal representations; Cognitive maps
Subjects:Sciences > Mathematics > Differential equations
ID Code:44780
Deposited On:22 Sep 2017 11:38
Last Modified:12 Dec 2018 15:06

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