An anthropomorphic robotic platform for experimental validation of biologically-inspired sensory-motor co-ordination in grasping

摘要

The aim of the work is the integration of an anthropomorphic robotic platform, starting from a neurophysiological model of grasping, in order to provide tools for an experimental validation of the model and also to provide new anthropomorphic solutions for robot grasping. The resulting robotic system is composed of an anthropomorphic arm/hand system and visual and tactile sensors. Grasp planning, control and learning have been achieved by a neural approach, inspired by a model of the inter-connections among the brain areas involved in grasping, as formulated by neurophysiologists. After a description of objectives and specifications for the robotic platform, the system is illustrated and experimental results are reported. Finally, the results are discussed as a starting point for current activities, involving the development of novel human-like robotic components and the implementation of more sophisticated learning schemes.