creators_name: Yoshikawa, Yuichiro
creators_name: Kawanishi, Hiroyoshi
creators_name: Asada, Minoru
creators_name: Hosoda, Koh
editors_name: Prince, Christopher G.
editors_name: Demiris, Yiannis
editors_name: Marom, Yuval
editors_name: Kozima, Hideki
editors_name: Balkenius, Christian
type: confposter
datestamp: 2003-10-29
lastmod: 2011-03-11 08:55:23
metadata_visibility: show
title: Body Scheme Acquisition by Cross Modal Map Learning among Tactile, Visual, and Proprioceptive Spaces
ispublished: pub
subjects: comp-sci-mach-learn
subjects: comp-sci-art-intel
subjects: comp-sci-robot
full_text_status: public
keywords: developmental robotics, body scheme, internal observer, cross-modal
abstract: How to represent own body is one of the most interesting issues in cognitive developmental robotics which aims to understand the cognitive developmental processes that an intelligent robot would require and how to realize them in a physical entity.  This paper presents a cognitive model how the robot acquires its own body representation, that is body scheme for the body surface.  The internal observer assumption makes it difficult for a robot to associate the sensory information from different modalities because of the lacking of references between them that are usually given by the designer in the prenatal stage of the robot.  Our model is based on cross-modal map learning among join, vision, and tactile sensor spaces by associating different pairs of sensor values when they are activated simultaneously.  We show a preliminary experiment, and then discuss how our model can explain the reported phenomenon on body scheme and future issues.
date: 2002
date_type: published
volume: 94
publisher: Lund University Cognitive Studies
pagerange: 181-184
refereed: TRUE
citation:   Yoshikawa, Yuichiro and Kawanishi, Hiroyoshi and Asada, Minoru and Hosoda, Koh  (2002) Body Scheme Acquisition by Cross Modal Map Learning among Tactile, Visual, and Proprioceptive Spaces.  [Conference Poster]     
document_url: http://cogprints.org/3253/1/Yoshikawa.pdf