Self-Developing Proprioception-Based Robot Internal Models Tao Zhang, Fan Hu, Yian Deng, Mengxi Nie, Tianlin Liu, Xihong Wu, Dingsheng Luo
Self-developing Proprioception-Based Robot Internal Models Tao Zhang, Fan Hu, Yian Deng, Mengxi Nie, Tianlin Liu, Xihong Wu, Dingsheng Luo To cite this version: Tao Zhang, Fan Hu, Yian Deng, Mengxi Nie, Tianlin Liu, et al.. Self-developing Proprioception- Based Robot Internal Models. 2nd International Conference on Intelligence Science (ICIS), Nov 2018, Beijing, China. pp.321-332, 10.1007/978-3-030-01313-4_34. hal-02118797 HAL Id: hal-02118797 https://hal.inria.fr/hal-02118797 Submitted on 3 May 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Distributed under a Creative Commons Attribution| 4.0 International License Self-developing Proprioception-based Robot Internal Models Tao Zhang, Fan Hu, Yian Deng, Mengxi Nie, Tianlin Liu, Xihong Wu, and Dingsheng Luo* Key Lab of Machine Perception (Ministry of Education), Speech and Hearing Research Center, Department of Machine Intelligence, School of EECS, Peking University, Beijing 100871, China. *corresponding author {tao_zhang,fan_h,yiandeng,niemengxi,xhwu,dsluo}@pku.edu.cn Abstract. Research in cognitive science reveals that human central ner- vous system internally simulates dynamic behavior of the motor system using internal models (forward model and inverse model).
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