Artificial Life and Robotics

, 14:114 | Cite as

Multiple self-organizing maps for a visuo-motor system that uses multiple cameras with different fields of view

  • Nobuhiro Okada
  • Jinjun Qiu
  • Kenta Nakamura
  • Eiji Kondo
Original Article

Abstract

This article proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector at targets given in the camera images. The maps also make the manipulator take obstacle-free poses. Multiple cameras are introduced to avoid occlusions, and multiple SOMs are introduced to deal with multiple camera images. Some simulation results are shown.

Key words

Robot vision systems Self-organizing maps 

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Copyright information

© International Symposium on Artificial Life and Robotics (ISAROB). 2009

Authors and Affiliations

  • Nobuhiro Okada
    • 1
  • Jinjun Qiu
    • 1
  • Kenta Nakamura
    • 1
  • Eiji Kondo
    • 1
  1. 1.Department of Intelligent Machinery and SystemsKyushu UniversityFukuokaJapan

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