Person:
Calvo Tapia, Carlos

Profile Picture
First Name
Carlos
Last Name
Calvo Tapia
URI
https://hdl.handle.net/20.500.14352/74305
Affiliation
Universidad Complutense de Madrid
Faculty / Institute
Ciencias Biológicas
Department
Biodiversidad, Ecología y Evolución
Area
Matemática Aplicada
Identifiers
UCM identifierORCIDScopus Author IDWeb of Science ResearcherIDDialnet IDGoogle Scholar ID

Filters

20171
Reset filters

Settings

Author: Khoruzhko, Maxim × Subject: 007.52 ×

Search Results

Now showing 1 - 1 of 1
  • Thumbnail Image
    Item
    Holistic Model of Cognitive Limbs for Dynamic Situations
    (2017) Kastalskiy, Innokentiy; Khoruzhko, Maxim; Makarov Slizneva, Valeriy; Calvo Tapia, Carlos; Villacorta Atienza, José Antonio
    Cognitive object handling and manipulation are vital skills for humans and future humanoid robots. However, the fundamental bases of how our brain solves such tasks remain largely unknown. Here we provide a novel approach that describes the problem of limb movements in dynamic situations on an abstract cognitive level. The approach involves two main steps: i) Transformation of the problem from the limb workspace to the so-called handspace, which represents the limb as a point and obstacles as objects of complex shapes, and ii) Construction of a generalized cognitive map (GCM) in the handspace by a neural network simulating activation wave. The GCM enables tracing a trajectory to a target that can be followed by the limb, which ensures collision-free movement and target catching in the workspace. We validate our approach by numerical simulations on an avatar developed for a humanoid robot Poppy.