Abstract
The paper explains the necessity, for humanoid robots, of the body schema, as a middleware between motor cognition and motor control. A specific model of body schema is described, based on the Passive Motion Paradigm, which uses force fields for representing goals and internal/external constraints. The integration of the body schema with motor control is discussed in relation with whole body movements. Finally, the integration with sensorimotor cognitive processes is addressed, in the context of learning/discovering the use of tools in skilled behavior.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
