TY  - GEN
ID  - cogprints2500
UR  - http://cogprints.org/2500/
A1  - Andry, Pierre
A1  - Gaussier, Philippe
A1  - Nadel, Jacqueline
Y1  - 2002///
N2  - 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.
PB  - Lund University Cognitive Studies
KW  - robotics
KW  -  neural network
KW  -  self-organization
KW  -  imitation
TI  - From Visuo-Motor Development to Low-level Imitation
SP  - 7
AV  - public
EP  - 15
ER  -

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