A New Neural Net Approach to Robot 3D Perception and Visuo-Motor Coordination
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.
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