title: A neural network-based exploratory learning and motor planning system for co-robots.
abstract: Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or "learning by doing," an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.
authors.affiliation: Program in Cognitive and Neural Systems, Boston University Boston, MA, USA ; Center for Excellence in Learning in Education, Science, and Technology, Boston University Boston, MA, USA ; Neuromorphics Laboratory, Boston University Boston, MA, USA.
authors.forename: Byron V
authors.initials: BV
authors.lastname: Galbraith
authors.affiliation: Center for Excellence in Learning in Education, Science, and Technology, Boston University Boston, MA, USA ; Department of Speech, Language, and Hearing Sciences, Boston University Boston, MA, USA ; Department of Biomedical Engineering, Boston University Boston, MA, USA.
authors.forename: Frank H
authors.initials: FH
authors.lastname: Guenther
authors.affiliation: Center for Excellence in Learning in Education, Science, and Technology, Boston University Boston, MA, USA ; Neuromorphics Laboratory, Boston University Boston, MA, USA.
authors.forename: Massimiliano
authors.initials: M
authors.lastname: Versace
keywords: co-robot; egocentric navigation; embodied AI; exploratory learning; motor planning; neural network