Research On The Method Of Robot Body-Perception Based On Multi-Modal Sensation Fusion

To manufacture the robot which can completely replace our human works is always our dream, but at present even if the highest-level artificial intelligence robot in the world, is apart from the goal which the people expected. Cognitive development robot which based on the bionics has given a constructive way for the robot true intellectualization. How to represent own body is one of the most interesting issues in cognitive developmental robotics which aims to understand the cognitive developmental processes that an intelligent robot would require and how to realize them in a physical entity. Research on robot's body-perception aims to let the robot acquire its own body representation from self learning, that is body scheme for the body surface. Although the designer can specify some kinds of body representation by associating the sensor values with its reference (usually called calibration process), the robot should have a capability to acquire its body representation by itself in order to adapt itself to accidental changes in it body and/or in its environment. In robotics, the internal observer assumption makes it difficult for a robot to associate the sensory information from different modalities because of the lacking of references between them that are usually given by the designer in the prenatal stage of the robot. Recent studies have revealed that body scheme is not simply a representation of joint angels, but a complex integration of vision, proprioception, touch, and motor feedback, so it necessary to integrate different sensory modalities in order to construct the body scheme.In this thesis, how robot can obtain body representation are deeply researched, which aim to let robot obtain body representation through cross-modal map based on tactile, visual, proprioceptive space.First, has surveyed the method of robot body-perception, introduced present researching situation and the trend of development of robot and the intelligent robot, simply summarized present researching situation and the trend of development robot visual technology, tactile technology, proprioceptive technology, and multi-information fusion technology, related the domestic and foreign present researching situation in detail.Second, has surveyed the newest researching achievement of body-perception on biology, thus drawed out the enlightenment to robot body-perception. Then established principle model of robot cross-modal map, and embodied this model in order to realization.Next, has primarily established the robot body-perception theory system, and has pointed out the discretization method of sensation space, the robot body-perception learning process and the robot body-perception realization process. given the sensation information discretization method, the robot own sensation study process,the robot own sensation realization process, the method of quantification and un-quantification method of single model sensation, through which robot body-perception can move towards the practical application from the fundamental research.Then, according to method of robot body-perception which we proposed, has established model of Cartesian coordinate robot, and accomplished the hardware design and software design with LabVIEW.At last, has confirmed the robot body-perception method which we proposed is feasible through the experiment. Then has proposed researching tendency in the future.