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dc.contributor.authorMassera, Gen
dc.contributor.authorCangelosi, Aen
dc.contributor.authorNolfi, Sen
dc.date.accessioned2017-06-02T12:51:41Z
dc.date.available2017-06-02T12:51:41Z
dc.date.issued2007en
dc.identifier.urihttp://hdl.handle.net/10026.1/9409
dc.description.abstract

In this paper, we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot's body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators and the compliance of its actuated joints) and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules.

en
dc.format.extent4 - ?en
dc.languageengen
dc.language.isoengen
dc.subjectadaptationen
dc.subjectevolutionary roboticsen
dc.subjectreaching and graspingen
dc.subjectrobotic armen
dc.titleEvolution of prehension ability in an anthropomorphic neurorobotic arm.en
dc.typeJournal Article
plymouth.author-urlhttps://www.ncbi.nlm.nih.gov/pubmed/18958275en
plymouth.volume1en
plymouth.publication-statusPublished onlineen
plymouth.journalFront Neuroroboten
dc.identifier.doi10.3389/neuro.12.004.2007en
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Institute of Health and Community
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
dc.publisher.placeSwitzerlanden
dcterms.dateAccepted2007-10-12en
dc.identifier.eissn1662-5218en
dc.rights.embargoperiodNot knownen
rioxxterms.versionofrecord10.3389/neuro.12.004.2007en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2007en
rioxxterms.typeJournal Article/Reviewen


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