TY - JOUR
T1 - Integration of active vision and reaching from a developmental robotics perspective
AU - Hülse, Martin Siegfried
AU - McBride, Sebastian Daryl
AU - Law, James Alexander
AU - Lee, Mark Howard
N1 - Huelse, M., McBride, S., Law, J., Lee, M. (2010). Integration of active vision and reaching from a developmental robotics perspective. IEEE Transactions on Autonomous Mental Development, 2 (4), 355-367.
Sponsorship: EPSRC, EC
PY - 2010/12/31
Y1 - 2010/12/31
N2 - Inspired by child development and brain research, we introduce a computational framework which integrates robotic active vision and reaching. Essential elements of this framework are sensorimotor mappings that link three different computational domains relating to visual data, gaze control, and reaching. The domain of gaze control is the central computational substrate that provides, first, a systematic visual search and, second, the transformation of visual data into coordinates for potential reach actions. In this respect, the representation of object locations emerges from the combination of sensorimotor mappings. The framework is tested in the form of two different architectures that perform visually guided reaching. Systematic experiments demonstrate how visual search influences reaching accuracy. The results of these experiments are discussed with respect to providing a reference architecture for developmental learning in humanoid robot systems.
AB - Inspired by child development and brain research, we introduce a computational framework which integrates robotic active vision and reaching. Essential elements of this framework are sensorimotor mappings that link three different computational domains relating to visual data, gaze control, and reaching. The domain of gaze control is the central computational substrate that provides, first, a systematic visual search and, second, the transformation of visual data into coordinates for potential reach actions. In this respect, the representation of object locations emerges from the combination of sensorimotor mappings. The framework is tested in the form of two different architectures that perform visually guided reaching. Systematic experiments demonstrate how visual search influences reaching accuracy. The results of these experiments are discussed with respect to providing a reference architecture for developmental learning in humanoid robot systems.
U2 - 10.1109/TAMD.2010.2081667
DO - 10.1109/TAMD.2010.2081667
M3 - Article
SN - 1943-0604
VL - 2
SP - 355
EP - 367
JO - IEEE Transactions on Autonomous Mental Development
JF - IEEE Transactions on Autonomous Mental Development
IS - 4
ER -