Abstract—In this paper we consider the problem of sensorimotor coordination in a Bayesian framework. To this end we introduce a novel kind of Dynamic Bayesian Network serving as the core tool to integrate active vision and task-constrained motor behaviors. The proposed system is put into work by addressing the challenging task of realistic drawing performed by a robotic agent, namely a 7-DOF anthropomorphic manipulator. Simulation results are compared to those obtained by eye-tracked human subjects involved in drawing experiments.
Sensorimotor coupling via Dynamic Bayesian Networks / R. Coen Cagli, P. Napoletano, P. Coraggio, G. Boccignone, A. De Santis - In: 2008 IEEE International Conference on Robotics and Automation / [a cura di] M. J. Mataric, P. Schenker, S. Schaal, G. S. Sukhatme. - Los Alamitos : IEEE Press, 2008 May 19. - ISBN 9781424416462. - pp. 1582-1587 (( convegno IEEE International Conference on Robotics and Automation tenutosi a Pasadena, Calfornia nel 2008.
Sensorimotor coupling via Dynamic Bayesian Networks
G. BoccignonePenultimo
;
2008
Abstract
Abstract—In this paper we consider the problem of sensorimotor coordination in a Bayesian framework. To this end we introduce a novel kind of Dynamic Bayesian Network serving as the core tool to integrate active vision and task-constrained motor behaviors. The proposed system is put into work by addressing the challenging task of realistic drawing performed by a robotic agent, namely a 7-DOF anthropomorphic manipulator. Simulation results are compared to those obtained by eye-tracked human subjects involved in drawing experiments.
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