Universidad Politécnica de Cartagena TESIS DOCTORAL “UNA ...
Universidad Politécnica de Cartagena TESIS DOCTORAL “UNA ... Universidad Politécnica de Cartagena TESIS DOCTORAL “UNA ...
Summary Introduction, Objectives and Organization of the Thesis. 1. Introduction Robotics has become into a traditional field in which research is made by engineers and scientist from different science disciplines such as mathematics, physics, medicine, neurosciences etc. It is evident that in the last years , robotics has evolve to be a multidisciplinary area getting closer and closer to everyday life of human beings such as in the cases of robotics applied to rehabilitation or surgery. It also has been established the use of robotics as a tool for the study of the Man and other biological systems or even to construct artificial anthropomorphic components such as, arms, sensors or cognitive – behavioural schemas able to substitute their biological counterparts in some situations. In the last years, it has been established within the robotics community, the idea about that the understanding of the nervous system of humans and monkeys has also a potential industrial or productive interest. The artificial intelligence industrial devices are more and more inspired in Biology. The brain operates in way very different to the way an actual robot actually operates. The mechanisms for information processing are vastly more complex and subtle in brain neural circuits than in the electronic circuits of the actual robots. The interactions within groups of neurons modify the properties of neural firing of these neurons in their interaction with sensory signals from the external world. An elemental learning such as avoiding behaviours with negative consequences, imply millions of neuronal events, including the reconfiguration and establishment of new neuronal connections. This is what is called ‘adaptability to environment’ of the biological systems.
Neuro – Robotics constitutes an emergent and new field which represents, in its objectives, a huge challenge for science ad technology: the transference of fundamental principles of the neurobiology that drives the human behaviour to the diversity of disciplines of the engineering that constitute the Robotics (signal processing, robust and adaptive control, non linear systems, pattern recognition, mechatronics, etc…). If Robotics always has been a multidisciplinary field basically at the technological level, the need to push this field into major advances, requires a stronger interaction between the roboticians and scientist from another fields such as neurosciences, physiology or psychology. Actually, neurosciences are evolving from the isolated analysis of the properties of a neuron or small set of neurons to the analysis of the brain function at the level of systems and subsystems. This trend allows two clear ways of interaction between neuroscientists and engineers. On one hand, many mechanisms related with the sensory-motor coordination, the planning or selection of behaviours in complex and dynamical environments, or the learning and development of motor or cognitive skills by humans, are still poorly understood by researchers. At this moment, the robotic technology is advanced to the level that now, it is possible to construct anthropomorphic devices that allow the experimental validation of the hypothesis and models that there exist about the nature, properties and functioning of the neural mechanisms mentioned above. At this level, Neuro – Robotics provides a way to reach a deeper understanding about brain function, and eventually, could provide solutions for the treatment of different brain dysfunctions. At the other hand, actual robots, interact with humans in a non – flexible and non – natural way. Now, the neurosciences begin to provide a kind of information to the systems engineer that is very useful in order to develop models with innovative solutions for the design of new robot control algorithms. These algorithms allow a more flexible and natural interaction between robots and humans. The ideas exposed above are the general reference frame in which the work of this PhD Thesis is developed. Concretely, it could be said that, major objectives of this PhD coincide with major objectives of two basic research projects funded by European Commission: BRITE-SYNERAGH (Systems neuroscience and engineering research for anthropomorphic grasping and handling, 1998-2001, BRE-2-CT980797) project and IST/FET-PALOMA (Progressive and adaptive learning for object manipulation: a biologically inspired multi-network architecture, 2001-2004, IST-2001-33073) project. The author of this PhD Thesis is ascribed to NeuroTechnology, Control and Robotics research group of the Universidad Politécnica de Cartagena. This research group and
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Neuro – Robotics constitutes an emergent and new field which represents, in its<br />
objectives, a huge challenge for science ad technology: the transference of fundamental<br />
principles of the neurobiology that drives the human behaviour to the diversity of<br />
disciplines of the engineering that constitute the Robotics (signal processing, robust and<br />
adaptive control, non linear systems, pattern recognition, mechatronics, etc…). If<br />
Robotics always has been a multidisciplinary field basically at the technological level,<br />
the need to push this field into major advances, requires a stronger interaction between<br />
the roboticians and scientist from another fields such as neurosciences, physiology or<br />
psychology.<br />
Actually, neurosciences are evolving from the isolated analysis of the properties of<br />
a neuron or small set of neurons to the analysis of the brain function at the level of<br />
systems and subsystems. This trend allows two clear ways of interaction between<br />
neuroscientists and engineers. On one hand, many mechanisms related with the<br />
sensory-motor coordination, the planning or selection of behaviours in complex and<br />
dynamical environments, or the learning and <strong>de</strong>velopment of motor or cognitive skills<br />
by humans, are still poorly un<strong>de</strong>rstood by researchers. At this moment, the robotic<br />
technology is advanced to the level that now, it is possible to construct<br />
anthropomorphic <strong>de</strong>vices that allow the experimental validation of the hypothesis and<br />
mo<strong>de</strong>ls that there exist about the nature, properties and functioning of the neural<br />
mechanisms mentioned above. At this level, Neuro – Robotics provi<strong>de</strong>s a way to reach a<br />
<strong>de</strong>eper un<strong>de</strong>rstanding about brain function, and eventually, could provi<strong>de</strong> solutions for<br />
the treatment of different brain dysfunctions. At the other hand, actual robots, interact<br />
with humans in a non – flexible and non – natural way. Now, the neurosciences begin<br />
to provi<strong>de</strong> a kind of information to the systems engineer that is very useful in or<strong>de</strong>r to<br />
<strong>de</strong>velop mo<strong>de</strong>ls with innovative solutions for the <strong>de</strong>sign of new robot control<br />
algorithms. These algorithms allow a more flexible and natural interaction between<br />
robots and humans.<br />
The i<strong>de</strong>as exposed above are the general reference frame in which the work of this<br />
PhD Thesis is <strong>de</strong>veloped. Concretely, it could be said that, major objectives of this PhD<br />
coinci<strong>de</strong> with major objectives of two basic research projects fun<strong>de</strong>d by European<br />
Commission: BRITE-SYNERAGH (Systems neuroscience and engineering research for<br />
anthropomorphic grasping and handling, 1998-2001, BRE-2-CT980797) project and<br />
IST/FET-PALOMA (Progressive and adaptive learning for object manipulation: a<br />
biologically inspired multi-network architecture, 2001-2004, IST-2001-33073) project.<br />
The author of this PhD Thesis is ascribed to NeuroTechnology, Control and Robotics<br />
research group of the <strong>Universidad</strong> <strong>Politécnica</strong> <strong>de</strong> <strong>Cartagena</strong>. This research group and
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