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Motor Babbling
Motor babbling is a process of repeatedly performing a random motor command for a short duration. It is similar to the vocal babbling of infants, where the brain learns the relation between vocal muscle activities and the resulting sounds. However, it was found that the general motor-control system is already exploring itself in the womb, in animals, in a similar way. Originally, the random spasms and convulsions of the embryo were seen as the non-functional consequences of growth. Later it was realized that the motor system is already calibrating its sensorimotor system before birth. After birth, motor babbling in primates continues in the random grasping movements towards visual targets, training the eye-hand coordination system. These insights are used since the early nineteen nineties in models of biological movement control and in robotics. In robotics, it is a system of robot learning whereby a robotic system can autonomously develop an internal model of its self-body and its ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Randomness
In common usage, randomness is the apparent or actual lack of pattern or predictability in events. A random sequence of events, symbols or steps often has no order and does not follow an intelligible pattern or combination. Individual random events are, by definition, unpredictable, but if the probability distribution is known, the frequency of different outcomes over repeated events (or "trials") is predictable.Strictly speaking, the frequency of an outcome will converge almost surely to a predictable value as the number of trials becomes arbitrarily large. Non-convergence or convergence to a different value is possible, but has probability zero. For example, when throwing two dice, the outcome of any particular roll is unpredictable, but a sum of 7 will tend to occur twice as often as 4. In this view, randomness is not haphazardness; it is a measure of uncertainty of an outcome. Randomness applies to concepts of chance, probability, and information entropy. The fields of ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robot Learning
Robot learning is a research field at the intersection of machine learning and robotics. It studies techniques allowing a robot to acquire novel skills or adapt to its environment through learning algorithms. The embodiment of the robot, situated in a physical embedding, provides at the same time specific difficulties (e.g. high-dimensionality, real time constraints for collecting data and learning) and opportunities for guiding the learning process (e.g. sensorimotor synergies, motor primitives). Example of skills that are targeted by learning algorithms include sensorimotor skills such as locomotion, grasping, active object categorization, as well as interactive skills such as joint manipulation of an object with a human peer, and linguistic skills such as the grounded and situated meaning of human language. Learning can happen either through autonomous self-exploration or through guidance from a human teacher, like for example in robot learning by imitation. Robot learning can ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Neural Network
A neural network is a network or circuit of biological neurons, or, in a modern sense, an artificial neural network, composed of artificial neurons or nodes. Thus, a neural network is either a biological neural network, made up of biological neurons, or an artificial neural network, used for solving artificial intelligence (AI) problems. The connections of the biological neuron are modeled in artificial neural networks as weights between nodes. A positive weight reflects an excitatory connection, while negative values mean inhibitory connections. All inputs are modified by a weight and summed. This activity is referred to as a linear combination. Finally, an activation function controls the amplitude of the output. For example, an acceptable range of output is usually between 0 and 1, or it could be −1 and 1. These artificial networks may be used for predictive modeling, adaptive control and applications where they can be trained via a dataset. Self-learning resulting from e ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Multilayer Perceptron
A multilayer perceptron (MLP) is a fully connected class of feedforward artificial neural network (ANN). The term MLP is used ambiguously, sometimes loosely to mean ''any'' feedforward ANN, sometimes strictly to refer to networks composed of multiple layers of perceptrons (with threshold activation); see . Multilayer perceptrons are sometimes colloquially referred to as "vanilla" neural networks, especially when they have a single hidden layer. An MLP consists of at least three layers of nodes: an input layer, a hidden layer and an output layer. Except for the input nodes, each node is a neuron that uses a nonlinear activation function. MLP utilizes a supervised learning technique called backpropagation for training. Its multiple layers and non-linear activation distinguish MLP from a linear perceptron. It can distinguish data that is not linearly separable.Cybenko, G. 1989. Approximation by superpositions of a sigmoidal function '' Mathematics of Control, Signals, and Systems'' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Developmental Robotics
Developmental robotics (DevRob), sometimes called epigenetic robotics, is a scientific field which aims at studying the developmental mechanisms, architectures and constraints that allow lifelong and open-ended learning of new skills and new knowledge in embodied machines. As in human children, learning is expected to be cumulative and of progressively increasing complexity, and to result from self-exploration of the world in combination with social interaction. The typical methodological approach consists in starting from theories of human and animal development elaborated in fields such as developmental psychology, neuroscience, developmental and evolutionary biology, and linguistics, then to formalize and implement them in robots, sometimes exploring extensions or variants of them. The experimentation of those models in robots allows researchers to confront them with reality, and as a consequence, developmental robotics also provides feedback and novel hypotheses on theories of hu ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverse Kinematics
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging. Inverse kinematics is also used to recover the movements of an object in the world from some other data, such as a film of those movements, or a film of the world as seen by a camera which is itself making those movements. This occurs, for example, where a human actor's filmed movements are to be duplicated by an animated character. Robotics In robotics, inverse ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverse Dynamics
Inverse dynamics is an inverse problem. It commonly refers to either inverse rigid body dynamics or inverse structural dynamics. Inverse rigid-body dynamics is a method for computing forces and/or moment of force, moments of force (torques) based on the kinematics (motion) of a body and the body's inertial properties (mass and moment of inertia). Typically it uses link-segment models to represent the mechanical behaviour of interconnected segments, such as the Limb (anatomy), limbs of humans or animals or the joint extensions of robots, where given the kinematics of the various parts, inverse dynamics derives the minimum forces and moments responsible for the individual movements. In practice, inverse dynamics computes these internal moments and forces from measurements of the motion of limbs and external forces such as ground reaction forces, under a special set of assumptions.Robertson DGE, et al., Research Methods in Biomechanics, Champaign IL:Human Kinetics Pubs., 2004. Applicati ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Kinesiology
Kinesiology () is the scientific study of human body movement. Kinesiology addresses physiological, anatomical, biomechanical, pathological, neuropsychological principles and mechanisms of movement. Applications of kinesiology to human health include biomechanics and orthopedics; strength and conditioning; sport psychology; motor control; skill acquisition and motor learning; methods of rehabilitation, such as physical and occupational therapy; and sport and exercise physiology. Studies of human and animal motion include measures from motion tracking systems, electrophysiology of muscle and brain activity, various methods for monitoring physiological function, and other behavioral and cognitive research techniques. Basics Kinesiology studies the science of human movement, performance, and function by applying the fundamental sciences of Cell Biology, Molecular Biology, Chemistry, Biochemistry, Biophysics, Biomechanics, Biomathematics, Biostatistics, Physiology, Exerc ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Central Pattern Generator
Central pattern generators (CPGs) are self-organizing biological neural circuits that produce rhythmic outputs in the absence of rhythmic input. They are the source of the tightly-coupled patterns of neural activity that drive rhythmic and stereotyped motor behaviors like walking, swimming, breathing, or chewing. The ability to function without input from higher brain areas still requires modulatory inputs, and their outputs are not fixed. Flexibility in response to sensory input is a fundamental quality of CPG-driven behavior. To be classified as a rhythmic generator, a CPG requires: # "two or more processes that interact such that each process sequentially increases and decreases, and # that, as a result of this interaction, the system repeatedly returns to its starting condition." CPGs have been found in invertebrates, and practically all vertebrate species investigated, including humans. General anatomy and physiology Intrinsic properties of CPG neurons CPG neurons can ha ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Curiosity
Curiosity (from Latin '' cūriōsitās'', from ''cūriōsus'' "careful, diligent, curious", akin to ''cura'' "care") is a quality related to inquisitive thinking such as exploration, investigation, and learning, evident by observation in humans and other animals. Curiosity is heavily associated with all aspects of human development, in which derives the process of learning and desire to acquire knowledge and skill. The term ''curiosity'' can also be used to denote the behavior or emotion of being curious, in regard to the desire to gain knowledge or information. Curiosity as a behavior and emotion is attributed over millennia as the driving force behind not only human development, but developments in science, language, and industry. Causes Curiosity can be seen as an innate quality of many different species. It is common to human beings at all ages from infancy through adulthood, and is easy to observe in many other animal species; these include apes, cats, and rodents. Ear ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Phantom Limb
A phantom limb is the sensation that an amputated or missing limb is still attached. Approximately 80 to 100% of individuals with an amputation experience sensations in their amputated limb. However, only a small percentage will experience painful phantom limb sensation. These sensations are relatively common in amputees and usually resolve within two to three years without treatment. Research continues to explore the underlying mechanisms of phantom limb pain (PLP) and effective treatment options. Signs and symptoms Most (80% to 100%) amputees experience a phantom limb, with some of them having non-painful sensations. The amputee may feel very strongly that the phantom limb is still part of the body. People will sometimes feel as if they are gesturing, feel itches, twitch, or even try to pick things up. The missing limb often feels shorter and may feel as if it is in a distorted and painful position. Occasionally, the pain can be made worse by stress, anxiety and weather chan ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
