%0 Journal Article 
%A Pedreño Molina, Juan Luis
%A Flórez Giráldez, Oscar
%A López Coronado, Juan
%T A new neural architecture based on ART and AVITE models for anticipatory sensory-motor coordination in robotics
%D 2004
%@ 0302-9743
%U http://hdl.handle.net/10317/1479
%X In 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.
%K Teoría de la Señal y las Comunicaciones
%K Robótica
%K Redes neuronales
%K Sistemas robóticos
%K Sistemas de coordinación sensorio motor
%K Robotic
%K Neural Network
%K Robotic system
%K Sensory-motor coordinate systems
%~ GOEDOC, SUB GOETTINGEN