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166 results on '"Laschi, C"'

15. Lessons from Animals and Plants: The Symbiosis of Morphological Computation and Soft Robotics.

Author

Laschi, C. and Mazzolai, B.

Subjects
SOFT robotics, ROBOT motion, ROBOT kinematics, COMPUTATIONAL complexity, MECHANICAL behavior of materials
Abstract

Morphological computation is a modern perspective on intelligence that gives the physical body a stronger role [1], [2]. With respect to the traditional view, in which behavior is the result of perception, processing, and movement, with morphological computation, behavior emerges from the complex interaction of the physical body with the environment and depends heavily on the mechanical properties, the shape (or the morphology), and the arrangement of perceptual, motor, and processing units [3]. In this view, according to [2], the material properties of the structures are extremely important for control. In fact, most living organisms have soft bodies. As summarized in [4], even animals with skeletons have soft tissues; in humans, for example, the skeleton typically contributes only 11% of the body mass of an adult male. Soft bodies thus appear to be fundamental to the emergence of behavior from the interaction with the environment. In other words, morphological computation benefits from soft bodies that react and adapt to such an interaction. [ABSTRACT FROM PUBLISHER]

Published
2016
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25. Expected perception in robots: a biologically driven perception-action scheme

Author

Nunes, U, de Aalmeida, AT, Bejczy, AK, Kosuge, K, Macgado, JAT, Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, Guglielmelli, E, DATTERI, EDOARDO, Guglielmelli, E., Nunes, U, de Aalmeida, AT, Bejczy, AK, Kosuge, K, Macgado, JAT, Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, Guglielmelli, E, DATTERI, EDOARDO, and Guglielmelli, E.

Abstract

The paper presents a biologically-inspired perception-action scheme for robots interacting with real-world environments, grounded in the broad hypothesis that, like in humans, perception and action are improved in speed and accuracy by expectation mechanisms: perception crucially involves comparison processes between incoming stimuli and expected perceptions (EPs). In the proposed approach, EPs are built on the basis of previous perceptions, current motor commands, proprioception, and internal models of the robot and the environment. In contrast to pure reactive approaches, background knowledge plays here a helpful role, as it reduces the computational burden of perception and motor coordination tasks, in partially structured environments. In the work presented here, an EP mechanism has been applied in the visuo-motor coordination of an anthropomorphic 8 d.o.f. robotic manipulator equipped with a vision system, in order to validate the viability and effectiveness of the initial hypothesis.

Published
2003

26. Expected perception: an anticipation-based perception-action scheme in robots

Author

Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, Guglielmelli, E, Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, and Guglielmelli, E

Abstract

The paper proposes an anticipation mechanism to improve the perception-action loop of robots interacting with real-world environments. According to recent neuroscientific findings, sensory anticipation can increase the effectiveness of perception-action loops and reduce the delays in obtaining the sensory information, especially in case of complex sensory modalities like vision, that affect pure feed-back structures. In the proposed scheme, perception crucially involves comparison processes between incoming stimuli and expected perceptions (EPs), built from previous perceptions, current motor commands, and internal models of the robot and the environment. Background knowledge plays here a helpful role, as it reduces the computational burden of perception and motor coordination tasks in partially structured environments. In the work presented here, an EP mechanism has been applied in the visuo-motor coordination of an anthropomorphic 8 d.o.f. robotic manipulator equipped with a vision system, in order to evaluate the conditions of applicability of the proposed strategy, and to validate the viability and effectiveness of the initial hypothesis.

Published
2003

33. Adaptable semi-autonomy in personal robots

Author

Laschi, C, Teti, G, Tamburrini, G, Datteri, E, Dario, P, Dario, P., DATTERI, EDOARDO, Laschi, C, Teti, G, Tamburrini, G, Datteri, E, Dario, P, Dario, P., and DATTERI, EDOARDO

Abstract

Personal Robotics is widely recognized as a major challenge for current Robotics Research. Robots assisting humans and closely interacting with them have to meet acceptability requirements which in turn leads one to reconsider the concept of autonomy in robotics. This paper presents an abstract analysis of possible levels of semi-autonomy in Personal Robots and illustrates a case-study in which adaptable semi-autonomy is implemented and experimentally validated. Explanation modules, for human-robot communication in the planning phase, and user modeling techniques, that allow the system to adapt to its user's needs and preferences, are proposed as ways to achieve adaptive semi-autonomy

Published
2001

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