Person:
Sánchez Jiménez, Abel

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First Name
Abel
Last Name
Sánchez Jiménez
URI
https://hdl.handle.net/20.500.14352/74359
Affiliation
Universidad Complutense de Madrid
Faculty / Institute
Ciencias Biológicas
Department
Biodiversidad, Ecología y Evolución
Area
Matemática Aplicada
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Author: Villacorta Atienza, José Antonio × Subject: 5/6 ×

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    Cognitive Neural Network Driving DoF-Scalable Limbs in Time-Evolving Situations
    (2018) Calvo Tapia, Carlos; Villacorta Atienza, José Antonio; Kastalskiy, Innokentiy; Díez Hermano, Sergio; Sánchez Jiménez, Abel; Makarov Slizneva, Valeriy
    Object handling and manipulation are vital skills for humans and autonomous humanoid robots. The fundamental bases of how our brain solves such tasks remain largely unknown. Here we develop a novel approach that addresses the problem of limb movements in time-evolving situations at an abstract cognitive level. We exploit the concept of generalized cognitive maps constructed in the so-called handspace by a neural network simulating a wave simultaneously exploring different subject actions independently on the number of objects in the workspace. We show that the approach is scalable to limbs with minimalistic and redundant numbers of degrees of freedom (DoF). It also allows biasing the effort of reaching a target among different DoF.