Self-discovery of motor primitives and learning grasp affordances

Ugur, Emre
Şahin, Erol
Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for goal satisfaction and motor planning.


Robot mimicking: A visual approach for human machine interaction
Uskarci, A; Alatan, Abdullah Aydın; Dindaroglu, MS; Ersak, A (2003-01-01)
The proposed method is the preliminary step for a human-machine interaction system, in which a robot arm mimics the movements of a human arm, visualized through a camera set-up. In order to achieve this goal, the posture of a model joint, which simulates a human arm, is determined by finding the bending and yaw angles from captured images. The image analysis steps consist of preprocessing of noise via median filtering, thresholding and connected component analysis. The relation between the relative position...
Extension of cortical synaptic development distinguishes humans from chimpanzees and macaques
Liu, Xiling; Somel, Mehmet; Tang, Lin; Yan, Zheng; Jiang, Xi; Guo, Song; Yuan, Yuan; He, Liu; Oleksiak, Anna; Zhang, Yan; Li, Na; Hu, Yuhui; Chen, Wei; Qiu, Zilong; Paeaebo, Svante; Khaitovich, Philipp (2012-04-01)
Over the course of ontogenesis, the human brain and human cognitive abilities develop in parallel, resulting in a phenotype strikingly distinct from that of other primates. Here, we used microarrays and RNA-sequencing to examine human-specific gene expression changes taking place during postnatal brain development in the prefrontal cortex and cerebellum of humans, chimpanzees, and rhesus macaques. We show that the most prominent human-specific expression change affects genes associated with synaptic functio...
Sensory Weighting in a Rhythmic Ball Bouncing Task
Nickl, Robert; Ankaralı, Mustafa Mert; Cowan, Noah (2015-07-24)
The role of sensory information in walking remains unclear despite its relevance to understanding human locomotor deficits and as a source of insight for robotics. System identification experiments using sinusoidal perturbations of a visual scene have yielded insights into control of human standing posture [2]. We propose a framework through which similar techniques can be used to identify estimator and controller structures used by humans during rhythmic movement. A key challenge in translating these techn...
Fluid swarm formation control for hand gesture imitation by ellipse fitting
TİLKİ, Umut; Erkmen, Aydan Müşerref (Institution of Engineering and Technology (IET), 2015-03-19)
The main focus of this reported work is to imitate human hand gestures in the presence of the organ matching problem. Towards this aim, a case where the imitator is a fluidic system is adopted, whose dynamics are totally different from the imitatee; that is, a human performing different hand gestures. Proposed is a fluidics formation control of fluid particles where the formations result from the imitation of observed human hand gestures. Fluid body motion is modelled in a particle-based approach by using s...
Self-reports of preschool foreign language teachers on early childhood foreign language teaching and related challenges
Bezcioğlu Göktolga, İrem; Olgan, Refika; Department of Early Childhood Education (2013)
This study aimed to investigate the views of preschool foreign language teachers on the purpose of foreign language instruction in preschool years, their self-reported practices, challenges and addressing challenges in planning, implementing and assessing children’s foreign language learning. Twenty participants, 11 of whom took a related course on teaching foreign language to very young learners in undergraduate degree and nine of whom did not, were interviewed using an interview protocol designed and pilo...
Citation Formats
E. Ugur, E. Şahin, and E. ÖZTOP, “Self-discovery of motor primitives and learning grasp affordances,” 2012, Accessed: 00, 2020. [Online]. Available: