Title :
Hebbian learning of visually directed reaching by a robot arm
Author :
Wang, Yiwen ; Wu, Tinggan ; Orchard, Garrick ; Dudek, Piotr ; Rucci, Michele ; Shi, Bertram E.
Author_Institution :
Hong Kong Univ. of Sci. & Technol., Kowloon, China
Abstract :
We describe a robotic system consisting of an arm and an active vision system learns to align its sensory and motor maps so that it can successfully reach the tip of its arm to touch the point where it is looking. This system uses an unsupervised Hebbian learning algorithm, and learns the alignment by watching its arm waving in front of its eyes. After watching for 25 minutes, the maps are sufficiently well aligned that it can execute the desired behavior.
Keywords :
Hebbian learning; medical robotics; active vision system; motor maps; robot arm; sensory alignment; time 25 min; unsupervised Hebbian learning algorithm; visually directed reaching; Cameras; Eyes; Head; Hebbian theory; Light emitting diodes; Machine vision; Robot kinematics; Robot sensing systems; Robot vision systems; Supervised learning;
Conference_Titel :
Biomedical Circuits and Systems Conference, 2009. BioCAS 2009. IEEE
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-4917-0
Electronic_ISBN :
978-1-4244-4918-7
DOI :
10.1109/BIOCAS.2009.5372049
