Third Year Review

Technical Annex (updated)

Review Documents

Poster

Poster presented at the review meeting workshop in Munich

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Deliverables

1.8A	Progress Report 3	DIST	Report	Public
1.9	Technology implementation plan	DIST	Report	Public
1.10	Final Report	DIST	Report	Public
2.6	Robot testing and technology assessment	DIST	Demo	Public	See below in the multimedia section
2.7	Final Demonstration and Results	DIST	Demo	Public	See below in the multimedia section
4.5	Final results of the biological experiments UNIFE Report Public 30	UNIFE	Report	Public
4.6	Results on comparison between “artificial” and “real” neurons	DIST	Report	Public

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Multimedia Content

This section constitutes also D2.6 and D2.7. Experiments are described in D1.10.

	Grasping objects on the table	The robot uses pretty much all the modules developed within the project to grasp a toy laying on the table. See D1.10 for details.
	Grasping objects on the table	The robot uses pretty much all the modules developed within the project to grasp a small bottle.
	Grasping objects on the table	The robot uses pretty much all the modules developed within the project to grasp a toy car.
	Grasping objects on the table	The robot uses pretty much all the modules developed within the project to grasp a plastic duck.
	Looking at the hand	A demonstration of the acquired body map. The robot uses the body map to track its hand as it moves.
	Looking at the hand	The body map is used to predict the position of the hand given a commanded motion.
	Looking at the hand	The body map is used together with color information to detect the position of the hand in the image.
	Reaching	Reaching for a visually identified object using the motor-motor coordination schema.
	Grasping	Haptic exploration by grasping.
	Baltazar	In this experiment we show one of the main properties of the anthropomorphic kinematics. The position of the third joint and the inverse kinematics used enables the robot to orient the hand solely by setting the initial condition of the algorithm.
	Coordination	In this experiment we show the coordination of the head and hand.
	Imitation	This experiment shows the capability of Baltazar of mimicking human gestures. This video shows the robot point of view when looking at the human experimenter.
	Imitation	The robot process the image in order to extract the background to be able to estimate the body, shoulder and hand position.
	Imitation	Using the visuo-motor map the system is able to mimic a gesture.
	Grasping	The hand is controlled to close but because of the mechanical compliance the fingers adapt to the object.

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Published papers

	L. Natale, G. Metta, G. Sandini. Learning haptic representation of objects. In International Conference on Intelligent Manipulation and Grasping. Genoa - Italy July 1-2, 2004.
	L. Natale, Linking action to perception in a humanoid robot: a developmental approach to grasping. PhD Thesis, University of Genoa, Genoa. 2004.
	G. Metta, A. Gasteratos, G. Sandini. Learning to track colored objects with log-polar vision. Mechatronics. 14(9), pp. 989-1006. 2004.
	P. Fitzpatrick and G. Metta. Grounding Vision Through Experimental Manipulation. In Philosophical Transactions of the Royal Society: Mathematical, Physical, and Engineering Sciences, 361:1811, pp. 2165-2185. 2003.
	M. Lungarella, G. Metta, R. Pfeifer, G. Sandini. Developmental Robotics: A Survey. Connection Science. 15(4), pp. 151-190. 2003.
	P. Fitzpatrick, G. Metta, L. Natale, S. Rao, and G. Sandini. Learning About Objects Through Action: Initial Steps Towards Artificial Cognition. In 2003 IEEE International Conference on Robotics and Automation (ICRA). May 12-17, 2003 Taipei, Taiwan.
	G. Metta and P. Fitzpatrick. Early Integration of Vision and Manipulation. In Adaptive Behavior special issue on Epigenetic Robotics. Vol 11 Issue 2 (2003) pp. 109-128
	G. Sandini, G. Metta, D. Vernon. RobotCub: An Open Framework for Research in Embodied Cognition. Submitted to IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004). November 10-12, 2004 Santa Monica, Los Angeles, CA, USA.
	L. Natale, G. Metta, G. Sandini. A developmental approach to grasping. Developmental Robotics, 2005 AAAI Spring Symposium (submitted).
	G.Metta, G. Sandini, L. Natale, L. Craighero, L. Fadiga. Understanding mirror neurons: a bio-robotic approach. In preparation 2004. Submitted to Interaction Studies, special issue on Epigenetic Robotics.
	Fadiga L., Craighero L. New insights on sensorimotor integration: From hand action to speech perception, Brain and Cognition, 2003, 53:514-24.
	Fadiga L., Craighero L. Electrophysiology of action representation. Journal of Clinical Neurophysiology, 2004, 21:157-69.
	Rizzolatti G., Craighero L. The mirror-neuron system. Annual Reviews of Neuroscience, 2004, 27:169-92
	Vargas CD, Olivier E, Craighero L, Fadiga L, Duhamel JR, Sirigu A. The Influence of Hand Posture on Corticospinal Excitability during Motor Imagery: A Transcranial Magnetic Stimulation Study. Cerebral Cortex, 2004, 14:1200-6.
	Fadiga L, Craighero L, Dri G, Facchin P, Destro MF, Porro CA. Corticospinal excitability during painful self-stimulation in humans: a transcranial magnetic stimulation study. Neuroscience Letters, 2004, 361:250-3.
	Fadiga L, Craighero L. Hand actions and speech representation in Broca’s area. Cortex, (2004, in press).
	Rizzolatti G., Fadiga L. The mirror-neuron system and action recognition. In Higher-order motor disorders: from Neuroanatomy and Neurobiology to Clinical Neurology. Eds. Freund H.J., Jeannerod M., Hallett M. (New York: Oxford University Press), (2005, in press).
	Fadiga L, Craighero L, Roy A. Broca’s region: a speech area? In Broca’s Region. Eds. Grodzinsky Y., Amunts K. (New York: Oxford University Press), (in press).
	Porro C, Facchin P, Dri G, Fusi S, Martinig M, Fadiga L, Implicit motor training by action observation, (submitted to Nature Neuroscience).
	Fadiga L, Craighero L, Fabbri Destro M, Castiello U, Smith A, Wilson N, Language in shadows, in preparation.
	Cabido Lopes M, Santos-Victor J. Visual learning by imitation with motor representations. Special Issue on Learning in Computer Vision and Pattern Recognition IEEE Transactions on Systems, Man and Cybernetics, PART B, accepted for publication, 2004.
	M. Lopes, R. Beira, M. Praça, J. Santos-Victor, An anthropomorphic robot torso for imitation: design and experiments, IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems, September 28 - October 2, 2004, Sendai, Japan, Sep.29 - Oct.1 2004.
	R. Freitas, J. Santos-Victor, M. Sarcinelli-Filho, T. Bastos-Filho, Learning Navigation Maps by Looking at People, 4th IFAC/EURON Symposium on Autonomous Vehicles, IAV04, Lisbon, Portugal, July 2004.
	R. Vassallo, J. Santos-Victor, H. Schneebeli, Visuomotor maps for robot task learning through imitation, 4th IFAC/EURON Symposium on Autonomous Vehicles, IAV04, Lisbon, Portugal, July 2004.
	M. Cabido Lopes, J. Santos-Victor, Motor Representations for Hand Gesture Recognition and Imitation. IROS Workshop on Robot Programming by Demonstration, Las Vegas, SA, October 31st, 2003.
	Rosander, R. and von Hofsten, C. (2004) Infants' emerging ability to represent object motion. Cognition, 91, 1-22.
	Gredebäck, G. and von Hofsten, C. (2004) Infants’ evolving representation of moving objects between 6 and 12 months of age. Infancy, (in press).
	von Hofsten, C. (2004) The development of prospective control in looking. In J. Lockman and J. Rieser (Eds.) Action as an Organizer of Perception and Cognition during Learning and Development. Minnesota symposium on Child Psychology. Vol 36. (in press)
	von Hofsten, C. (2004) An action perspective on motor development. Trends in Cognitive Science, 8, 266-272.
	Gredebäck, G., von Hofsten, C., Karlsson, J., and Aus, K. (2004) The development of two dimensional tracking: A longitudinal study of circular visual pursuit. Experimental Brain Research (in press).

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