From Visuo-Motor Development to Low-level Imitation

Andry, Pierre and Gaussier, Philippe and Nadel, Jacqueline (2002) From Visuo-Motor Development to Low-level Imitation. [Conference Paper]

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We present the first stages of the developmental course of a robot using vision and a 5 degree of freedom robotic arm. During an exploratory behavior, the robot learns visuo-motor control of its mechanical arm. We show how a simple neural network architecture, combining elementary vision, a self-organized algorithm, and dynamical Neural Fields is able to learn and use proper associations between vision and arm movements, even if the problem is ill posed (2-D toward 3-D mapping and also mechanical redundancy between different joints). Highlighting the generic aspect of such an architecture, we show as a robotic result that it is used as a basis for simple gestural imitations of humans. Finally we show how the imitative mechanism carries on the developmental course, allowing the acquisition of more and more complex behavioral capabilities.

Item Type:Conference Paper
Keywords:robotics, neural network, self-organization, imitation
Subjects:Computer Science > Machine Learning
Computer Science > Neural Nets
Computer Science > Robotics
ID Code:2500
Deposited By: Prince, Dr Christopher G.
Deposited On:26 Sep 2003
Last Modified:11 Mar 2011 08:55


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