Autonomous Robots

, Volume 25, Issue 1–2, pp 85–101 | Cite as

A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

  • Cecilia LaschiEmail author
  • Gioel Asuni
  • Eugenio Guglielmelli
  • Giancarlo Teti
  • Roland Johansson
  • Hitoshi Konosu
  • Zbigniew Wasik
  • Maria Chiara Carrozza
  • Paolo Dario


This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image.

The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.


Predictive control Sensory-motor coordination Robot grasping Robot learning Expected perception Internal models Neuro-fuzzy controllers 


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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Cecilia Laschi
    • 1
    Email author
  • Gioel Asuni
    • 1
  • Eugenio Guglielmelli
    • 2
  • Giancarlo Teti
    • 1
  • Roland Johansson
    • 3
  • Hitoshi Konosu
    • 4
  • Zbigniew Wasik
    • 4
  • Maria Chiara Carrozza
    • 1
  • Paolo Dario
    • 1
  1. 1.ARTS (Advanced Robotics Technology and Systems) LabScuola Superiore Sant’AnnaPisaItaly
  2. 2.CIR—Center for Integrated Research, Laboratory of Biomedical Robotics and BiomicrosystemsCampus-Biomedico UniversityRomeItaly
  3. 3.Umeå UniversityUmeåSweden
  4. 4.Toyota Motor EuropeBrusselsBelgium

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