Learning to grasp with parental scaffolding

Download

index.pdf

Date

2011-12-01

Author

Ugur, Emre
Celikkanat, Hande
Şahin, Erol
Nagai, Yukie
Oztop, Erhan

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

220
views

174
downloads

Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fingers and lifting its hand lacks knowledge of which parts of the object affords grasping, and in which hand orientation should the object be grasped. During reach and grasp attempts, the movement of the robot hand is modified by the human caregiver's physical interaction to enable successful grasping. The object regions that the robot fingers contact first are detected and stored as potential graspable object regions along with the trajectory of the hand. In the experiments, we showed that although the human caregiver did not directly show the graspable regions, the robot was able to find regions such as handles of the mugs after its action execution was partially guided by the human. Later, this experience was used to find graspable regions of never seen objects. At the end, the robot was able to grasp objects based on the position of the graspable part and stored action execution trajectories.

Subject Keywords

Robot Sensing Systems , Humans , Robot Kinematics , Force , Joints , Grasping

URI

https://hdl.handle.net/11511/39723

DOI

https://doi.org/10.1109/humanoids.2011.6100890

Conference Name

2011 11th IEEE-RAS International Conference on Humanoid Robots

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills Ugur, Emre; Nagai, Yukie; Celikkanat, Hande; ÖZTOP, ERHAN (2015-06-01) Parental scaffolding is an important mechanism that speeds up infant sensorimotor development. Infants pay stronger attention to the features of the objects highlighted by parents, and their manipulation skills develop earlier than they would in isolation due to caregivers' support. Parents are known to make modifications in infant-directed actions, which are often called "motionese". 7 The features that might be associated with motionese are amplification, repetition and simplification in caregivers' movem...
Maternal Trait Anxiety Predicts Infant Stress Reactivity via Caregiving Behaviors Aran, Özlü; Selçuk, Emre; Department of Psychology (2015) Maternal caregiving behaviors are one of the most important factors preparing the infant to life outside. So far quality of maternal sensitivity has been found to shape stress reactivity of infants through biological changes in brain regions related to stress in the rat. That is, an intergenerational transmission of stress reactivity from mother to infants occurs by means of maternal sensitivity. Studies with human mother-infant dyads, although limited, imply a similar relationship. Hence, the current study...
Moving between theory and practice: preparing early childhood pre-service teachers for teaching physical education Sevimli Çelik, Serap (Informa UK Limited, 2020-03-02) The early years of a child's life are critical in supporting their physical development. As a result, early childhood teachers have a profound responsibility and influence on the development of young children's physical skills. However, up to this point, little attention has been placed on the development of early childhood teachers' pedagogical skills for teaching physical education, and in particular, the dearth of training has most often occurred during pre-service teacher education. Therefore, the purpo...
Çocuklarda Aleksitimi, Bilgisayar Oyun Bağımlılığı ve Empatik Eğilim Arasındaki İlişki: Bir Yapısal Eşitlik Modellemesi Taş , İbrahim; Sevinç, Hümeyra (Orta Doğu Teknik Üniversitesi (Ankara, Turkey), 2019-10-1) Teknolojik gelişmelerin etkilediği alanlardan biri de çocuğun sosyal, fiziksel ve ruhsal gelişimi açısından önemli bir alan olan oyun alanıdır. Geleneksel oyunlar yerini dijital oyunlara bırakmış, oyunların niteliği değişmiştir. Bu değişimin beraberinde getirdiği sorunlardan biri de bilgisayar oyun bağımlılığıdır. Gelişim döneminde olmaları ve olası davranışsal bağımlılıklardan daha fazla etkilenmeleri nedeniyle çocuklarda bilgisayar oyun bağımlılığı ve ilişkili kavramların araştırılması önemlidir. Bu çalış...
How do care types and individual differences contribute to emotion understanding skills of children under the care of social services? Taşfiliz, Duygu; Kazak Berument, Sibel; Department of Psychology (2014) Early caregiving environment has a great influence on young children’s socio-emotional development. It has been found that young children who have been raised in institutional settings are at risk for deficits in their emotion understanding skills. Research findings also suggested that harmful effects of early care environment would continue into foster care or adoption (Pears & Fisher, 2005; Luke & Banerjee, 2012). Indeed, researchers have investigated developmental differences in individuals’ ability to u...

Citation Formats

E. Ugur, H. Celikkanat, E. Şahin, Y. Nagai, and E. Oztop, “Learning to grasp with parental scaffolding,” presented at the 2011 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/39723.