@article {Nabeshima:2010:0169-1864:687,
title = "A Method for Sustaining Consistent SensoryMotor Coordination under Body Property Changes Including Tool Grasp/Release",
journal = "Advanced Robotics",
parent_itemid = "infobike://tandf/arb",
publishercode ="tandf",
year = "2010",
volume = "24",
number = "5-6",
publication date ="2010-04-14T00:00:00",
pages = "687-717",
itemtype = "ARTICLE",
issn = "0169-1864",
eissn = "1568-5535",
url = "https://www.ingentaconnect.com/content/tandf/arb/2010/00000024/f0020005/art00005",
doi = "doi:10.1163/016918610X493543",
keyword = "ADAPTIVE BODY SCHEMA, INERTIA IDENTIFICATION, CONVERGENCE CRITERION, TOOL-BODY ASSIMILATION, MARKER-FREE HAND/HEAD–EYE CALIBRATION",
author = "Nabeshima, Cota and Kuniyoshi, Yasuo",
abstract = "The body's physical and spatial properties change because of unexpected accidents or objects it holds (e.g., tools). To maintain stable and consistent behaviors in acting time, it is necessary to adapt body representation to the unexpected changes. This adaptation is achieved when a
robot sustains its coordination between sensation and body motion, i.e., observation and identification of the discrepancy between its knowledge and actually obtained sensory feedback. For sustainability, the robot should autonomously judge the reliability and the tolerance of the identification.
Based on basic mathematics, we propose a method with an indirect but clear criterion of the reliability for the sustainable coordinations. We also implement the method on visualmotor coordination and on kinestheticmotor coordination. Remarkably, our method achieves a marker-free,
easily convergent and sufficiently accurate (i.e., easily applicable) handeye calibration method with irrelevant objects in view. The evaluation of the method is provided with experiments in a real robot. Our experimental results show the novelty of the concept of sustainable coordination
and the availability of our method for the concept. We hope this paper be a powerful approach for building autonomous robots.",
}