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Flexible and effective grasping

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(1)

Structure and control

New joint design 

and actuation

New soft body

Bioinspired 

controller

Reflex control

Neural model for 

reaching

A fully neural model 

of the V1 and V2 

areas

Unsupervised 

learning of 

peripersonal space

Object identification 

and reaching 

Flexible

Bio‐inspired

Grasping

Middelayer intentional architecture

•Intention is an agent specific purpose in 

performing an action

•Architecture inspired by brain areas

•Able  to  model  cognitive  development 

from simple innate criteria

A

ction generalization

B

iologic kinematics

C

ognitive database related

D

ynamic on‐line control

E

ffectiveness

Giuseppina Gini, Alessio Franchi, Flavio Mutti

DEIB, Politecnico di Milano

Alessandro Carlini

CNRS UMR5022, LEAD, Université de

Bourgogne, Dijon, France

Michele Folgheraiter

Nazarbayev University, Astana, Kazakhstan

References

U. Castiello. The Neuroscience of grasping. Nature Review. Vol. 6. 2005. 726-736

F. Mutti, H. Gravato Marques, G. Gini. A model of the visual dorsal pathway for computing coordinate transformations: an unsupervised approach, in A. Chella et al.(Eds.): Biologically Inspired Cognitive Architectures 2012, Springer Advances in Intelligent Systems and Computing, 239-246, 2013 .

G. Gini, M. Folgheraiter, I. Baroni, F. Boschetti, G. Petja, M. Traversoni. A biomimetic upper body for humanoids, Proc. ISR 2010, Munich, 7-9 June 2010, 911-918.

G. Gini, M. Folgheraiter, U. Scarfogliero. New joint design to create a more natural and efficient biped, J Applied Bionics and Biomechanics, Vol 6, N 1, 2012, 23-38.

R. Manzotti, F. Mutti, Soo-Young Lee, G. Gini. A model of a middle level of cognition based on the interaction among the thalamus, amygdala, and the cortex, Proc. IEEE International Conference on Systems Man and Cybernetics (SMC) 2012, Korea, November 2012, 1996-2001.

N. Vitucci, M. Arrigoni Neri, G. Gini, Using f-SHIN to represent objects: an aid to visual grasping, Proc. UniDL ’10 (1st International Workshop on Uncertainty in Description Logics), July 20, 2010, Edinburgh, UK, 1-8.

Cognitive 

architecture

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