A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub

One of the main advantages of building robots with size and motor capabilities close to those of humans, such as iCub, lies in the fact that they can potentially take advantage of a world populated with tools and devices designed by and for humans. However, in order to be able to do proper use of th...

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Detalles Bibliográficos
Autores principales: Mar, Tanis, Tikhanoff, Vadim, Natale, Lorenzo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2018
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806081/
https://www.ncbi.nlm.nih.gov/pubmed/33500977
http://dx.doi.org/10.3389/frobt.2018.00098
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author Mar, Tanis
Tikhanoff, Vadim
Natale, Lorenzo
author_facet Mar, Tanis
Tikhanoff, Vadim
Natale, Lorenzo
author_sort Mar, Tanis
collection PubMed
description One of the main advantages of building robots with size and motor capabilities close to those of humans, such as iCub, lies in the fact that they can potentially take advantage of a world populated with tools and devices designed by and for humans. However, in order to be able to do proper use of the tools around them, robots need to be able to incorporate these tools, that is, to build a representation of the tool's geometry, reach and pose with respect to the robot. The present paper tackles this argument by presenting a repository which implements a series of interconnected methods that enable autonomous, fast, and reliable tool incorporation on the iCub platform.
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spelling pubmed-78060812021-01-25 A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub Mar, Tanis Tikhanoff, Vadim Natale, Lorenzo Front Robot AI Robotics and AI One of the main advantages of building robots with size and motor capabilities close to those of humans, such as iCub, lies in the fact that they can potentially take advantage of a world populated with tools and devices designed by and for humans. However, in order to be able to do proper use of the tools around them, robots need to be able to incorporate these tools, that is, to build a representation of the tool's geometry, reach and pose with respect to the robot. The present paper tackles this argument by presenting a repository which implements a series of interconnected methods that enable autonomous, fast, and reliable tool incorporation on the iCub platform. Frontiers Media S.A. 2018-08-22 /pmc/articles/PMC7806081/ /pubmed/33500977 http://dx.doi.org/10.3389/frobt.2018.00098 Text en Copyright © 2018 Mar, Tikhanoff and Natale. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Mar, Tanis
Tikhanoff, Vadim
Natale, Lorenzo
A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title_full A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title_fullStr A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title_full_unstemmed A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title_short A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
title_sort framework for fast, autonomous, and reliable tool incorporation on icub
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806081/
https://www.ncbi.nlm.nih.gov/pubmed/33500977
http://dx.doi.org/10.3389/frobt.2018.00098
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