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Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction

Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated robot-head, by interaction with its environment. A feedback-error-learning (FEL)-based distributed control provides the system with explorative abilities with reflexes constraining the learning space. A Kohonen network, trained at run-time, categorizes the sensorimotor patterns obtained over ESCHeR's interaction with its environment, enables the reinforcement of frequently executed actions, thus stabilizing the learning activity over time. We explain how the development of ESCHeR's visual abilities (e.g., gaze fixation and saccadic motion), from a context-free reflex-based control process to a context-dependent, pattern-based sensorimotor coordination can be related to the Piagetian ‘stage theory’. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction

Berthouze, Luc; Kuniyoshi, Yasuo
Autonomous Robots , Volume 5 (4) – Oct 14, 2004
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References (15)

Publisher
Springer Journals
Copyright
Copyright © 1998 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1008818608164
Publisher site
See Article on Publisher Site

Abstract

This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated robot-head, by interaction with its environment. A feedback-error-learning (FEL)-based distributed control provides the system with explorative abilities with reflexes constraining the learning space. A Kohonen network, trained at run-time, categorizes the sensorimotor patterns obtained over ESCHeR's interaction with its environment, enables the reinforcement of frequently executed actions, thus stabilizing the learning activity over time. We explain how the development of ESCHeR's visual abilities (e.g., gaze fixation and saccadic motion), from a context-free reflex-based control process to a context-dependent, pattern-based sensorimotor coordination can be related to the Piagetian ‘stage theory’.

Journal

Autonomous Robots – Springer Journals

Published: Oct 14, 2004

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