The following is a list of publications produced by HSI related faculty and students. The link for each paper leads you to the citation, keyword, and abstract. For copies of the full papers, please use standard methods for obtaining academic publications, such as online library searches.
What Can I Control?: The Development of Visual Categories for a Robot's Body and the World that it Influences
Authors: A. Edsinger, C. Kemp
Abstract: We present a perceptual system for a humanoid robot that autonomously discovers its hand from less than 5 minutes of natural interaction with a human. The perceptual system combines simple proprioceptive sensing with a visual attention system that uses motion to select salient regions. We show that during natural interactions with a person, the selected visual regions primarily correspond with the person's head, eyes, hands, and fingers, and the robot's hand and fingers. The system clusters the selected image regions, models their spatial distribution over a sensory ego-sphere, and uses mutual information to determine how well the robot's arm can control each cluster. In our tests, the cluster that is best controlled by the robot's arm primarily contains images of the robot's hand. It also has a spatial distribution that can predict the visual location of the robot's hand as a function of the arm's configuration.
Citation: Charles C. Kemp and Aaron Edsinger. What Can I Control?: The Development of Visual Categories for a Robot's Body and the World that it Influences. 5th IEEE International Conference on Development and Learning: Special Session on Perceptual Systems and their Development (ICDL5), 2006.