Toward learning to solve insertion tasks: a developmental approach using exploratory behaviors and proprioception

摘要: This paper describes an approach to solving insertion tasks by a robot that uses exploratory behaviors and proprioceptive feedback. The was inspired the developmental progression of abilities in both chimpanzees humans (Hayashi et al. 2006). Before mastering insertions, infants two species undergo stage where they only press objects against other without releasing them. Our goal emulate this on see if it may lead simpler representations for tasks. Experiments were performed using shapesorter puzzle with three different blocks holes.