Robot hand discovery based on visuomotor coherence

This paper proposes a plausible approach for a robot to discover its own body based on the coherence of two different sensory feedbacks; vision and proprioception. The image cues of a moving region are stored in an image base with a visuo proprioceptional coherence label. The existence of coherence between the vision and proprioception suggests that the visually detected object is correlated to its own motor functions. By making the image base autonomously, a humanoid robot discovers its own hand without any knowledge of the hand appearances such as predefined visual marker. Also, the robot keeps tracking the hand with distinguishing it from other objects. All modules of visual and proprioceptional processing are distributed in the networks, which allow online perception and interaction.