Sensory-motor control scheme based on Kohonen Maps and AVITE model
Author
Pedreño Molina, Juan Luis; Guerrero González, Antonio; Flórez Giraldo, Oscar; Molina Vilaplana, JavierResearch Group
Grupo de Neurotecnología, Control y Robótica. (NEUROCOR); Grupo de Electromagnetismo y Materia (GEM)Knowledge Area
Ingeniería de Sistemas y Automática; Teoría de la Señal y las ComunicacionesPublication date
2003-08Publisher
Springer-VerlagBibliographic Citation
Sensory-motor control scheme based on Kohonen Maps and AVITE model. Lecture Notes in Computer Science, 2687/2003 (1043): 185-192, Agosto 2003. ISSN 0302-9743Peer review
SíKeywords
RobóticaSistemas robóticos
Sistemas de coordinación sensorio motor
Mapa de Kohonen
Modelos biológicos
Robotic
Sistemas robóticos
Sensory-motor coordinate systems
Kohonen map
Abstract
In this paper a control scheme is proposed for anticipatory and discrete event sensory motor driven. The control system elaborates a sensory-motor program based on its internal data and a high level objective. The global system implements several biological models in each one of its subsystems. One of the novelties of this work is the structure of the sensory-motor algorithms which are based on cell distributions of the sensorial spaces. Indeed, the correspondence between cells and the sensorial spaces is distributed by Kohonen maps. This control scheme has been tested on a robotic platform constituted by an industrial robot and a stereohead. More relevant results are presented and analyzed in this paper.
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