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Implicit sensorimotor mapping of the peripersonal space by gazing and reaching (submitted (2010)
| Venue: | IEEE Transactions on Autonomous Mental Development |
| Citations: | 8 - 6 self |
BibTeX
@ARTICLE{Chinellato10implicitsensorimotor,
author = {Eris Chinellato and Marco Antonelli and Beata J. Grzyb and Angel P. Del Pobil},
title = {Implicit sensorimotor mapping of the peripersonal space by gazing and reaching (submitted},
journal = {IEEE Transactions on Autonomous Mental Development},
year = {2010}
}
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Abstract
Abstract—Primates often perform coordinated eye and arm movements, contextually fixating and reaching towards nearby objects. This combination of looking and reaching to the same target is used by infants to establish an implicit visuomotor representation of the peripersonal space, useful for both oculo-motor and arm motor control. In this work, taking inspiration from such behavior and from primate visuomotor mechanisms, a shared sensorimotor map of the environment, built on a ra-dial basis function framework, is configured and trained by the coordinated control of eye and arm movements. Computational results confirm that the approach seems especially suitable for the problem at hand, and for its implementation on a real humanoid robot. By exploratory gazing and reaching actions, either free or goal-based, the artificial agent learns to perform direct and inverse transformations between stereo vision, oculomotor, and joint-space representations. The integrated sensorimotor map that allows to contextually represent the peripersonal space through different vision and motor parameters is never made explicit, but rather emerges thanks to the interaction of the agent with the environment. Index Terms — Eye–arm coordination, humanoid robots, ra-dial basis function networks, self-supervised learning, spatial awareness. I.
Keyphrases
peripersonal space implicit sensorimotor mapping arm movement exploratory gazing artificial agent learns motor parameter real humanoid robot index term eye arm coordination spatial awareness self-supervised learning sensorimotor map stereo vision coordinated control ra-dial basis function network joint-space representation arm motor control abstract primate implicit visuomotor representation computational result integrated sensorimotor map humanoid robot primate visuomotor mechanism towards nearby object ra-dial basis function framework inverse transformation different vision
