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Istituto di scienze e tecnologie della cognizione

Torna all'elenco Contributi in rivista anno 2014

Contributo in rivista

Tipo: Articolo in rivista

Titolo: Designing adaptive humanoid robots through the FARSA open-source framework

Anno di pubblicazione: 2014

Autori: Massera G.; Ferrauto T.; Gigliotta O.; Nolfi S.

Affiliazioni autori: Institute of Cognitive Sciences and Technologies, CNR, Rome, Italy; NAC Laboratory, Department of Humanities, University of Naples Federico II, Naples, Italy

Autori CNR:


Lingua: inglese

Abstract: We introduce FARSA, an open-source Framework for Autonomous Robotics Simulation and Analysis, that allows us to easily set up and carry on adaptive experiments involving complex robot/environmental models. Moreover, we show how a simulated iCub robot can be trained, through an evolutionary algorithm, to display reaching and integrated reaching and grasping behaviours. The results demonstrate how the use of an implicit selection criterion, estimating the extent to which the robot is able to produce the expected outcome without specifying the manner through which the action should be realized, is sufficient to develop the required capabilities despite the complexity of the robot and of the task. © The Author(s) 2014.

Lingua abstract: inglese

Pagine da: 255

Pagine a: 265


Adaptive behavior Sage Publications.
Paese di pubblicazione: Regno Unito
Lingua: inglese
ISSN: 1741-2633

Numero volume: 22

Numero fascicolo: 4

DOI: 10.1177/1059712314536909

Referee: Sì: Internazionale

Indicizzato da: Scopus [2-s2.0-84905039908]

Parole chiave:

  • embodied cognition
  • Evolutionary robotics
  • open software
  • simulation framework

URL: http://www.scopus.com/inward/record.url?eid=2-s2.0-84905039908&partnerID=q2rCbXpz

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