biologicalControlGazeEngine [iCub modules]

This class implements a process able of choose between different biological plausible control techniques for the gaze of the robot after training. More...

This class implements a process able of choose between different biological plausible control techniques for the gaze of the robot after training.

The motion is driven by a velocity controller. The module is able to get command from the associated interface or from an gui.

Description

The module provides a biological plausible technique in order to select the best behaviour in order to perfom the most rewarded gaze action. The module can choose between a series of behaviours ( vergence, saccade, smooth pursuit, etc ..) based on a complex combination of sensorial inputs Those sensorial inputs are processed and the dimensionality of the data is reduced after training. The training extracts what the most salient input of the input data are using a custom boltzmann machine. The user can shape the boltzmann machine as he prefers

Finally This module receives commands as bottle from the biologicalControlGazeInterface GUI. The command respect a communication stardard based on bottle composed of vocabols

The module does:

• reads commands from the biological ControlGaze GUI
• able to control the robot with every single control algorithm
• start a training process based on the input channel
• after the training is termined the system can choose the best behaviour considering the very same data input

Dependencies

YARP BML

Parameters

--name:defines the name of the module and the rootname of every port

Ports Accessed

none

Ports Created

Input ports:

• <name>/cmd:i
• <name>/image:i

Outports

• <name>/cmd:o

Input Data Files

none

Output Data Files

none

Configuration Files

none

Tested OS

Linux and Windows.

Example Instantiation of the Module

biologicalControlGazeEngine --name biologicalControlGazeEngine

Author:

Francesco Rea

Copyright (C) 2008 RobotCub Consortium

CopyPolicy: Released under the terms of the GNU GPL v2.0.