By Topic

Object category recognition by a humanoid robot using behavior-grounded relational learning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jivko Sinapov ; Developmental Robotics Laboratory, Iowa State University, USA ; Alexander Stoytchev

The ability to form and recognize object categories is fundamental to human intelligence. This paper proposes a behavior-grounded relational classification model that allows a robot to recognize the categories of household objects. In the proposed approach, the robot initially explores the objects by applying five exploratory behaviors (lift, shake, drop, crush and push) on them while recording the proprioceptive and auditory sensory feedback produced by each interaction. The sensorimotor data is used to estimate multiple measures of similarity between the objects, each corresponding to a specific coupling between an exploratory behavior and a sensory modality. A graph-based recognition model is trained by extracting features from the estimated similarity relations, allowing the robot to recognize the category memberships of a novel object based on the object's similarity to the set of familiar objects. The framework was evaluated on an upper-torso humanoid robot with two large sets of household objects. The results show that the robot's model is able to recognize complex object categories (e.g., metal objects, empty bottles, etc.) significantly better than chance.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011