Construction of robotic body schema by extracting temporal information from sensory inputs

Komei Sugiura, Daisuke Matsubara, Osamu Katai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


This paper proposes a method that incrementally develops the "body schema" of a robot. The method has three features: 1) estimation of light-sensor positions based on the Time Difference of Arrival (TDOA) of signals and multidimensional scaling (MDS); 2) incremental update of the estimation; and 3) no additional equipment. We carried out simulation experiments in which a mobile robot moves around environments or follows another robot. Each robot has several light sensors that collect data from which cross-correlation functions are derived and the TDOA is computed. Experimental results show that our method can estimate the positions of sensors deployed on the body and identify the sensors on the same part of the body.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Cross-correlation
  • Embodiment
  • Incremental mapping
  • Localization
  • Robotic body schema

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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