@misc{cogprints2500, volume = {94}, editor = {Christopher G. Prince and Yiannis Demiris and Yuval Marom and Hideki Kozima and Christian Balkenius}, title = {From Visuo-Motor Development to Low-level Imitation}, author = {Pierre Andry and Philippe Gaussier and Jacqueline Nadel}, publisher = {Lund University Cognitive Studies}, year = {2002}, pages = {7--15}, keywords = {robotics, neural network, self-organization, imitation}, url = {http://cogprints.org/2500/}, abstract = {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.} }