TY  - GEN
ID  - cogprints1496
UR  - http://cogprints.org/1496/
A1  - Berthouze, Luc
A1  - Kuniyoshi, Yasuo
Y1  - 1998/05//
N2  - 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 (namely 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'.
PB  - Kuwer Academic
KW  - Foveated active vision
KW  -  oculomotor control
KW  -  feedback-error-learning
KW  -  emergent coordination
KW  -  sensorimotor memory
TI  - Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction
AV  - public
ER  -

<script src="//archive-bar.soton.ac.uk/archive-bar.js"></script>