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dc.contributor.authorPedreño Molina, Juan Luis 
dc.contributor.authorFlórez Giráldez, Oscar 
dc.contributor.authorLópez Coronado, Juan 
dc.date.accessioned2010-12-15T08:48:49Z
dc.date.available2010-12-15T08:48:49Z
dc.date.issued2004-10
dc.identifier.citationPEDREÑO MOLINA, J.L., FLÓREZ GIRÁLDEZ, O., LÓPEZ CORONADO, J. A new neural architecture based on ART and AVITE models for anticipatory sensory-motor coordination in robotics. Lecture Notes in Computer Science, 3315/2004: 524-534, Octubre 2004. ISSN 0302-9743en_US
dc.identifier.issn0302-9743
dc.description.abstractIn this paper a novel sensory-motor neural controller applied to robotic systems for reaching and tracking targets is proposed. It is based on how the human system projects the sensorial stimulus over the motor joints, sending motor commands to each articulation and avoiding, in most phases of the movement, the feedback of the visual information. In this way, the proposed neural architecture autonomously generates a learning cells structure based on the adaptive resonance theory, together with a neural mapping of the sensory-motor coordinate systems in each cell of the arm workspace. It permits a fast openloop control based on propioceptive information of a robot and a precise grasping position in each cell by mapping 3D spatial positions over redundant joints. The proposed architecture has been trained, implemented and tested in a visuo-motor robotic platform. Robustness, precision and velocity characteristics have been validated.en_US
dc.description.sponsorshipThis work was supported in part by the SENECA Fundation (Spain) PCMC75/ 00078/FS/02, and the Spanish Science & Technology Ministry (MCYT) under TIC 2003-08164-C03-03 research project.en_US
dc.formatapplication/pdf
dc.language.isoengen_US
dc.publisherSpringer-Verlagen_US
dc.rightsThe original publication is available at www.springerlink.com). Copyright © 2004 Springeren_US
dc.titleA new neural architecture based on ART and AVITE models for anticipatory sensory-motor coordination in roboticsen_US
dc.typeinfo:eu-repo/semantics/articleen_US
dc.subjectRobóticaen_US
dc.subjectRedes neuronalesen_US
dc.subjectSistemas robóticosen_US
dc.subjectSistemas de coordinación sensorio motoren_US
dc.subjectRoboticen_US
dc.subjectNeural Networken_US
dc.subjectRobotic systemen_US
dc.subjectSensory-motor coordinate systemsen_US
dc.subject.otherTeoría de la Señal y las Comunicacionesen_US
dc.identifier.urihttp://hdl.handle.net/10317/1479
dc.peerreviewen_US
dc.contributor.investgroupGrupo de Electromagnetismo y Materia (GEM)en_US
dc.contributor.investgroupGrupo de Neurotecnología, Control y Robótica. (NEUROCOR)en_US
dc.identifier.doiDOI: 10.1007/978-3-540-30498-2_52


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