Grasping a waving object for a humanoid robot using a biologically-inspired active vision system

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

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Vibration Sensing of a Bridge Model Using a Multithread Active Vision System

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2017.2764504 ◽

2018 ◽

Vol 23 (1) ◽

pp. 179-189 ◽

Cited By ~ 16

Author(s):

Tadayoshi Aoyama ◽

Makoto Chikaraishi ◽

Akimasa Fujiwara ◽

Liang Li ◽

Mingjun Jiang ◽

...

Keyword(s):

Vision System ◽

Active Vision ◽

Bridge Model ◽

Vibration Sensing

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Active-vision system for multi-target surveillance

IEEE International Conference Mechatronics and Automation, 2005 ◽

10.1109/icma.2005.1626718 ◽

2006 ◽

Author(s):

A. Bakhtari ◽

B. Benhabib

Keyword(s):

Vision System ◽

Active Vision

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BEHAVIOR-BASED ACTIVE VISION

International Journal of Pattern Recognition and Artificial Intelligence ◽

10.1142/s0218001494000723 ◽

1994 ◽

Vol 08 (06) ◽

pp. 1493-1526

Author(s):

CLAUDIO S. PINHANEZ

Keyword(s):

Vision System ◽

Active Vision ◽

Implementation Process ◽

High Concentration ◽

Subsumption Architecture ◽

System A ◽

Saccadic Movement ◽

Building Process ◽

Sensor Structure ◽

Behavior Based

A vision system was built using a behavior-based model, the subsumption architecture. The so-called active eye moves the camera’s axis through the environment, detecting areas with high concentration of edges, with the help of a kind of saccadic movement. The design and implementation process is detailed in the article, paying particular attention to the fovea-like sensor structure which enables the active eye to efficiently use local information to control its movements. Numerical measures for the eye’s behavior were developed, and applied to evaluate the incremental building process and the effects of the saccadic movements on the whole system. A higher level behavior was also implemented, with the purpose of detecting long straight edges in the image, producing pictures similar to hand drawings. Robustness and efficiency problems are addressed at the end of the paper. The results seem to prove that interesting behaviors can be achieved using simple vision methods and algorithms, if their results are properly interconnected and timed.

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