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Publications (10 of 10) Show all publications
Syrén, F., Li, C., Billing, E., Lund, A. & Nierstrasz, V. (2016). Characterization of textile resistive strain sensors. In: : . Paper presented at 16th World Textile Conference AUTEX 2016, Ljubljana, Slovenia, 8-10 June 2016.
Open this publication in new window or tab >>Characterization of textile resistive strain sensors
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2016 (English)Conference paper, Poster (with or without abstract) (Other academic)
Keywords
resistive sensor, textile, characterization, resolution, hysteresis, dynamic/linear range
National Category
Signal Processing
Research subject
Textiles and Fashion (General); Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-12545 (URN)
Conference
16th World Textile Conference AUTEX 2016, Ljubljana, Slovenia, 8-10 June 2016
Projects
Bärbara sensorer i smarta textilierStrategiskt samarbete Borås-Skövde
Funder
Swedish Foundation for Strategic Research Region Västra Götaland, RUN 612-0197-13]
Available from: 2016-06-21 Created: 2016-06-21 Last updated: 2018-08-03Bibliographically approved
Li, C., Bredies, K., Lund, A., Nierstrasz, V., Hemeren, P. & Högberg, D. (2015). k-Nearest-Neighbour based Numerical Hand Posture Recognition using a Smart Textile Glove. In: MaartenWeyn (Ed.), AMBIENT 2015: The Fifth International Conference on Ambient Computing, Applications, Services and Technologies. Paper presented at AMBIENT 2015: The Fifth International Conference on Ambient Computing, Applications, Services and Technologies, July 19 - 24, 2015, Nice, France (pp. 36-41). International Academy, Research and Industry Association (IARIA)
Open this publication in new window or tab >>k-Nearest-Neighbour based Numerical Hand Posture Recognition using a Smart Textile Glove
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2015 (English)In: AMBIENT 2015: The Fifth International Conference on Ambient Computing, Applications, Services and Technologies / [ed] MaartenWeyn, International Academy, Research and Industry Association (IARIA), 2015, p. 36-41Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the authors present an interdisciplinary project that illustrates the potential and challenges in dealing with electronic textiles as sensing devices. An interactive system consisting of a knitted sensor glove and electronic circuit and a numeric hand posture recognition algorithm based on k-nearestneighbour (kNN) is introduced. The design of the sensor glove itself is described, considering two sensitive fiber materials – piezoresistive and piezoelectric fibers – and the construction using an industrial knitting machine as well as the electronic setup is sketched out. Based on the characteristics of the textile sensors, a kNN technique based on a condensed dataset has been chosen to recognize hand postures indicating numbers from one to five from the sensor data. The authors describe two types of data condensation techniques (Reduced Nearest Neighbours and Fast Condensed Nearest Neighbours) in order to improve the data quality used by kNN, which are compared in terms of run time, condensation rate and recognition accuracy. Finally, the article gives an outlook on potential application scenarios for sensor gloves in pervasive computing.

Place, publisher, year, edition, pages
International Academy, Research and Industry Association (IARIA), 2015
National Category
Computer Sciences Textile, Rubber and Polymeric Materials
Research subject
Interaction Lab (ILAB); User Centred Product Design
Identifiers
urn:nbn:se:his:diva-12105 (URN)978-1-61208-421-3 (ISBN)
Conference
AMBIENT 2015: The Fifth International Conference on Ambient Computing, Applications, Services and Technologies, July 19 - 24, 2015, Nice, France
Note

Research supported by Västra Götalandsregionen (VGR), grant number RUN 612-0197-13.

Available from: 2016-04-06 Created: 2016-04-06 Last updated: 2018-08-03Bibliographically approved
Li, C., Lowe, R. & Ziemke, T. (2014). A Novel Approach to Locomotion Learning: Actor-Critic Architecture using Central Pattern Generators and Dynamic Motor Primitives. Frontiers in Neurorobotics, 8, Article ID 23.
Open this publication in new window or tab >>A Novel Approach to Locomotion Learning: Actor-Critic Architecture using Central Pattern Generators and Dynamic Motor Primitives
2014 (English)In: Frontiers in Neurorobotics, ISSN 1662-5218, Vol. 8, article id 23Article in journal (Refereed) Published
Place, publisher, year, edition, pages
Frontiers Research Foundation, 2014
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-10121 (URN)10.3389/fnbot.2014.00023 (DOI)000348815700001 ()25324773 (PubMedID)2-s2.0-84907358807 (Scopus ID)
Available from: 2014-10-27 Created: 2014-10-27 Last updated: 2018-08-01Bibliographically approved
Li, C., Lowe, R. & Ziemke, T. (2013). Crawling Posture Learning in Humanoid Robots using a Natural-Actor Critic CPG Architecture. In: Advances in Artificial Life, ECAL 2013: Proceedings of the twelfth European Conference on the Synthesis and Simulation of Living Systems. Paper presented at 12th European Conference on Artificial Life (ECAL 2013), September 2-6 2013, Taormina, Italy (pp. 1182-1190).
Open this publication in new window or tab >>Crawling Posture Learning in Humanoid Robots using a Natural-Actor Critic CPG Architecture
2013 (English)In: Advances in Artificial Life, ECAL 2013: Proceedings of the twelfth European Conference on the Synthesis and Simulation of Living Systems, 2013, p. 1182-1190Conference paper, Published paper (Refereed)
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:his:diva-10127 (URN)10.7551/978-0-262-31709-2-ch182 (DOI)
Conference
12th European Conference on Artificial Life (ECAL 2013), September 2-6 2013, Taormina, Italy
Available from: 2014-10-27 Created: 2014-10-27 Last updated: 2018-01-11Bibliographically approved
Li, C., Lowe, R. & Ziemke, T. (2013). Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives. In: Proceedings of the IROS 2013 Workshopon Neuroscience and Robotics: Towards a robot-enabled,Neuroscience-guided healthy society. Paper presented at IROS 2013 Workshop on Neuroscience and Robotics, Tokyo, Japan, November 3rd, 2013 (pp. 7-15).
Open this publication in new window or tab >>Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives
2013 (English)In: Proceedings of the IROS 2013 Workshopon Neuroscience and Robotics: Towards a robot-enabled,Neuroscience-guided healthy society, 2013, p. 7-15Conference paper, Published paper (Refereed)
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:his:diva-10128 (URN)
Conference
IROS 2013 Workshop on Neuroscience and Robotics, Tokyo, Japan, November 3rd, 2013
Available from: 2014-10-27 Created: 2014-10-27 Last updated: 2018-01-11Bibliographically approved
Li, C., Lowe, R. & Ziemke, T. (2013). Humanoids learning to walk: a natural CPG-actor-critic architecture. Frontiers in Neurorobotics, 7(5)
Open this publication in new window or tab >>Humanoids learning to walk: a natural CPG-actor-critic architecture
2013 (English)In: Frontiers in Neurorobotics, ISSN 1662-5218, Vol. 7, no 5Article in journal (Refereed) Published
Abstract [en]

The identification of learning mechanisms for locomotion has been the subject of much research for some time but many challenges remain. Dynamic systems theory (DST) offers a novel approach to humanoid learning through environmental interaction. Reinforcement learning (RL) has offered a promising method to adaptively link the dynamic system to the environment it interacts with via a reward-based value system. In this paper, we propose a model that integrates the above perspectives and applies it to the case of a humanoid (NAO) robot learning to walk the ability of which emerges from its value-based interaction with the environment. In the model, a simplified central pattern generator (CPG) architecture inspired by neuroscientific research and DST is integrated with an actor-critic approach to RL (cpg-actor-critic). In the cpg-actor-critic architecture, least-square-temporal-difference based learning converges to the optimal solution quickly by using natural gradient learning and balancing exploration and exploitation. Futhermore, rather than using a traditional (designer-specified) reward it uses a dynamic value function as a stability indicator that adapts to the environment. The results obtained are analyzed using a novel DST-based embodied cognition approach. Learning to walk, from this perspective, is a process of integrating levels of sensorimotor activity and value.

Place, publisher, year, edition, pages
Frontiers Media S.A., 2013
Keywords
reinforcement learning, humanoid walking, central pattern generators, actor-critic, dynamical systems theory, embodied cognition, value system
National Category
Computer and Information Sciences
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-8368 (URN)10.3389/fnbot.2013.00005 (DOI)000209437600005 ()23675345 (PubMedID)2-s2.0-84902356043 (Scopus ID)
Available from: 2013-08-08 Created: 2013-08-08 Last updated: 2018-01-11Bibliographically approved
Durán, B., Lee, G. & Lowe, R. (2012). Learning a DFT-based sequence with reinforcement learning: A NAO implementation. Paladyn - Journal of Behavioral Robotics, 3(4), 181-187
Open this publication in new window or tab >>Learning a DFT-based sequence with reinforcement learning: A NAO implementation
2012 (English)In: Paladyn - Journal of Behavioral Robotics, ISSN 2080-9778, E-ISSN 2081-4836, Vol. 3, no 4, p. 181-187Article in journal (Refereed) Published
Place, publisher, year, edition, pages
Springer, 2012
Keywords
sequences, neural dynamics, reinforcement learning, humanoid
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:his:diva-10147 (URN)10.2478/s13230-013-0109-5 (DOI)
Available from: 2014-10-29 Created: 2014-10-29 Last updated: 2018-01-11Bibliographically approved
Li, C., Lowe, R. & Ziemke, T. (2012). Modelling Walking Behaviors Based on CPGs: A Simplified Bio-inspired Architecture. In: Ziemke, T., Balkenius, C. & Hallam, H. (Ed.), Tom Ziemke, Christian Balkenius, John Hallam (Ed.), From Animals to Animats 12: 12th International Conference on Simulation of Adaptive Behavior, SAB 2012Odense, Denamark, August 27-30, 2012. Paper presented at 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012 (pp. 156-166). Berlin, Heidelberg: Springer Berlin/Heidelberg
Open this publication in new window or tab >>Modelling Walking Behaviors Based on CPGs: A Simplified Bio-inspired Architecture
2012 (English)In: From Animals to Animats 12: 12th International Conference on Simulation of Adaptive Behavior, SAB 2012Odense, Denamark, August 27-30, 2012 / [ed] Tom Ziemke, Christian Balkenius, John Hallam, Berlin, Heidelberg: Springer Berlin/Heidelberg, 2012, p. 156-166Conference paper, Published paper (Refereed)
Abstract [en]

In this article, we use a recurrent neural network including four-cell core architecture to model the walking gait and implement it with the simulated and physical NAO robot. Meanwhile, inspired by the biological CPG models, we propose a simplified CPG model which comprises motorneurons, interneurons, sensor neurons and the simplified spinal cord. Within this model, the CPGs do not directly output trajectories to the servo motors. Instead, they only work to maintain the phase relation among ipsilateral and contralateral limbs. The final output is dependent on the integration of CPG signals, outputs of interneurons, motor neurons and sensor neurons (sensory feedback).

Place, publisher, year, edition, pages
Berlin, Heidelberg: Springer Berlin/Heidelberg, 2012
Series
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN 0302-9743 ; 7426 LNAI
Keywords
CPGs, the NAO robot, Interneuron, Motorneuron
National Category
Computer Sciences
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-6591 (URN)10.1007/978-3-642-33093-3_16 (DOI)2-s2.0-84866033575 (Scopus ID)978-3-642-33092-6 (ISBN)978-3-642-33093-3 (ISBN)
Conference
12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012
Available from: 2012-10-31 Created: 2012-10-31 Last updated: 2018-01-12Bibliographically approved
Li, C., Lowe, R., Duran, B. & Ziemke, T. (2011). Humanoids that crawl: Comparing gait performance of iCub and NAO using a CPG architecture. In: Shaozi Li, Ying Dai (Ed.), Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011: . Paper presented at 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 10 June 2011 through 12 June 2011, Shanghai (pp. 577-582). IEEE conference proceedings
Open this publication in new window or tab >>Humanoids that crawl: Comparing gait performance of iCub and NAO using a CPG architecture
2011 (English)In: Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 / [ed] Shaozi Li, Ying Dai, IEEE conference proceedings, 2011, p. 577-582Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a generic CPG architecture is used to model infant crawling gaits and is implemented on the NAO robot platform. The CPG architecture is chosen via a systematic approach to designing CPG networks on the basis of group theory and dynamic systems theory. The NAO robot performance is compared to the iCub robot which has a different anatomical structure. Finally, the comparison of performance and NAO whole-body stability are assessed to show the adaptive property of the CPG architecture and the extent of its ability to transfer to different robot morphologies. © 2011 IEEE.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011
Series
Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 ; 4
Keywords
CPG, Crawling, iCub, Infant development, NAO, Algebra, Network architecture, Robots, System theory, Computer architecture
Identifiers
urn:nbn:se:his:diva-7262 (URN)10.1109/CSAE.2011.5952916 (DOI)2-s2.0-80051897170 (Scopus ID)978-1-4244-8725-7 (ISBN)978-1-4244-8728-8 (ISBN)978-1-4244-8727-1 (ISBN)978-1-4244-8726-4 (ISBN)
Conference
2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 10 June 2011 through 12 June 2011, Shanghai
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2017-12-20Bibliographically approved
Lee, G., Lowe, R. & Ziemke, T. (2011). Modelling Early Infant Walking: Testing a Generic CPG Architecture on the NAO Humanoid. In: : . Paper presented at 2011 IEEE International Conference on Development and Learning, ICDL 2011; Frankfurt am Main; 24 August 2011 through 27 August 2011; Category number CFP11294-ART; Code 87020. IEEE conference proceedings, Article ID 6037318.
Open this publication in new window or tab >>Modelling Early Infant Walking: Testing a Generic CPG Architecture on the NAO Humanoid
2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a simple CPG network is shown to model early infant walking, in particular the onset of independent walking. The difference between early infant walking and early adult walking is addressed with respect to the underlying neurophysiology and evaluated according to gait attributes. Based on this, we successfully model the early infant walking gait on the NAO robot and compare its motion dynamics and performance to those of infants. Our model is able to capture the core properties of early infant walking. We identify differences in the morphologies between the robot and infant and the effect of this on their respective performance. In conclusion, early infant walking can be seen to develop as a function of the CPG network and morphological characteristics.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011
Keywords
Early Walking, CPG, Morphology, Development, NAO
Identifiers
urn:nbn:se:his:diva-7258 (URN)10.1109/DEVLRN.2011.6037318 (DOI)000297472300007 ()2-s2.0-80055009067 (Scopus ID)978-1-61284-990-4 (ISBN)978-1-61284-989-8 (ISBN)978-1-61284-987-4 (ISBN)978-1-61284-988-1 (ISBN)
Conference
2011 IEEE International Conference on Development and Learning, ICDL 2011; Frankfurt am Main; 24 August 2011 through 27 August 2011; Category number CFP11294-ART; Code 87020
Available from: 2013-02-18 Created: 2013-02-18 Last updated: 2017-12-21Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-7236-997X

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