Abstract
This paper presents a new neural net approach to robot visuo-motor coordination. The approach, refered to here as “neurobotics”, establishes neural net-based visual error servoing as a fundamental mechanism of implementing visuo-motor coordination. Visual error servoing is achieved by projecting the robot task space on the 3D perception net (representing the robot internal 3D space) and generating an incremental change of 3D space arm configuration in the 3D perception net based on potential field-based reactive path planning. The 3D space arm configuration planned in the 3D perception net is then translated into the corresponding joint angles through the arm kinematic net. The arm kinematic net is formed based on hierarchically self-organizing competitive and cooperative network. Simulation results are shown.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
G. Carpenter and S. Grossberg. Art2: stable self-organization of pattern recognition codes for analog input patterns. Applied Optics, 26:4919–4930, 1987.
R. Eckmiller Neural networks for generation of eye and arm movement trajectories. In M. Ito, editor, Neural Programming, pages 173–187. Karger: Basel, 1989.
M. Kuperstein. Adaptive visual-motor coordination in multijoint robots using parallel architecture. In Proc. IEEE Int. Conf. Automat. Robotics, 1987. (Raleigh, NC).
M. Kuperstein. Infant neural controller for adaptive sensory-motor coordination. Neural Networks, 4:131–145, 1991.
S. Lee and R. M. Kil. A gaussian potential network with hierarchically self-organizing learning. Neural Networks, 4:207–224, 1991.
D. Marr and T. Poggio. Cooperative computation of stereo disparity. SCIENCE, 194:283–287, 1976.
B. W. Mel. Connectionist robot motion planning. Academic Press, 1990.
H. J. Ritter T. M. Martinetz and K. J. Schulten. Three-dimensional neural net for learning visuomotor coordination of a robot arm. IEEE Trans. Neural Net., 1:131–136,1990.
Y. T. Zhou and R. Chellappa. Neural network algorithms for motion stereo. In Proc. Int. Joint Conf. Neural Networks, pages 11:251–258, 1989. (Washington D.C.).
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1993 Springer Science+Business Media New York
About this chapter
Cite this chapter
Lee, S. (1993). A New Neural Net Approach to Robot 3D Perception and Visuo-Motor Coordination. In: Bekey, G.A., Goldberg, K.Y. (eds) Neural Networks in Robotics. The Springer International Series in Engineering and Computer Science, vol 202. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3180-7_19
Download citation
DOI: https://doi.org/10.1007/978-1-4615-3180-7_19
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6394-1
Online ISBN: 978-1-4615-3180-7
eBook Packages: Springer Book Archive