Robotic hand-eye coordination without global reference: A biologically inspired learning scheme

Type Conference Proceeding (Non-Journal item)
Original languageEnglish
Title of host publication2009 IEEE 8th International Conference on Development and Learning
Pages53-58
Number of pages6
Publication statusPublished - Jun 2009
Event2009 IEEE 8th International Conference on Development and Learning (ICDL 2009) - Shanghai, China
Duration: 05 Jun 200907 Jun 2009

Conference

Conference2009 IEEE 8th International Conference on Development and Learning (ICDL 2009)
CountryChina
CityShanghai
Period05 Jun 200907 Jun 2009
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Abstract

Understanding the mechanism mediating the change from inaccurate pre-reaching to accurate reaching in infants may confer advantage from both a robotic and biological research perspective. In this work, we present a biologically meaningful learning scheme applied to the coordination between reach and gaze within a robotic structure. The system is model-free and does not utilize a global reference system. The integration of reach and gaze emerges from the learned cross-modal mapping between reach and vision space as it occurs during the robot-environment interaction. The scheme showed high learning speed and plasticity compared with other approaches due to the low level of training data required. We discuss our findings with respect to biological plausibility and from an engineering perspective, with emphasis on autonomous learning as well as strategies for the selection of new training data.