We present an approach for discriminating between forces a humanoid robot induces on itself (ego) and forces arising from its interaction with the environment (exo). The method uses the correlation of the interaction forces between the arms to determine whether the robot is touching itself, or an external agent is interacting with the arm. The ability is realized in a series of developmental stages as an initial step towards a robot body schema which is grounded in physical sensorimotor experiences. The approach has been evaluated on a bimanual upper-torso humanoid named Domo.
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