On The Early Research in Visuo-Motor Coordination based on Neural Networks
Resumo
This paper presents various models that have approched the visuo-motor coordination in human beings. These selected models are based on neural networks coupled with intuitive ideas which try to explain how human beings solve the arm coordenation problem. Basically, the goals are the simulation of the circular reaction found in infants, the path planning or the solution of the inverse kinematics into a robot environment. A model proposed by the author is discussed and qualitativy analyses are made.
Referências
J. C. Latombe, Robot Motion Planning. Kluwer Acadernic Publishers, 1991.
J. J. Craig, Introduction to Robotics Mechanics and Control. Addison-Wesley Publishing, 1986.
P. S. Churchland and T. J. Seijnowshi, The Computational Brain. Cambridge, Mas sachusetts: MIT Press, 1992.
E. R. Kandel and J. H. Schwartz, Principies of Neural Science. P.O. Box 211, 1000 AE Amsterdam, The Netherlands: Elsevier Science Publishing Co., Inc., 1985.
T. P. R. Campos, "(in press)," Revista Brasileira de Computação.
T. Campos and K. Schulten, "Learning All Possible Postures of a Real Arm Robot," in lntelligent Engineering Systems Through Artificial Neural Networks, ANNIE 92, (St. Louis, Illinois), pp. 793-801, Nov. 1992.
R. C. Trip, R. Granger, and G. Lynch, "A Cortical Model of Winner-Take-A ll Competition Via," Neural Network, vol. 5, pp. 47-54, 1992.
T. Kohonen, Self-Organization and Associative Memory. New York: Springer-Verlag, 1984.
T. Kohonenb, "Self-organized formation of topologically correct feature maps," Biological Cybernetics, vol. 43, pp. 59-69, 1982.
J. R. Munkres, Topology: A First Course. New Jersey: Prentice-Hall lnc., 1975.
H. Ritter and K. Schultenb, "On the Stationary State of Kohonen's Self-Organizing Sensory Mapping," Biological Cybernetics, vol. 54, pp. 99-106, 1986.
H. Ritter and K. Schultenb, "Kohonen's self-organizing maps: exploring their computational capabilities," in IEEE lnternational conference on Neural Network, vol. 2, pp. 109-116, july 1986.
J. H. Ritter, T. M. Martinetz, and K. Schulten, "Topology Conserving Maps for Learning Visuo-Motor Coordination," Neural Networks, vol. 2, pp. 159168, 1988.
T. Martinetz, H. J. Ritter, and K. Schulten, "Three-Dimensional Neural Net for Learning Visuomotor Coordination of a Robot Arm," IEEE Transactions on Neural Networks, vol. 1. pp. 131-136, march 1990.
B. J. Saxon and A. Mukerjee, "Learning The Motion Map of a Robot Arm with Neural Networks," in IJNN, (San Diego), pp. 777-782, 1990.
D. H. Graf, A Neural Controller for Collision-Free Movement of Robot Manipulatiors. Master's thesis, School of Computer Science, Carleton University, Ottawa, Ontario, August 1988.
D. H. Graf and W. R. LaLonde, "A Neural Controller For Collision-Free Movement of General Robot Manipulators," in Proc. IEEE First Intl. Conf. on Neural Networks, (San Diego, Cal.), pp. 77-84, July 1988.
M. Kuperstein and J. Rubinstein, "lmplementation of an Adaptive Neural Controller for Sensory-Motor Coordination," IEEE Control Systems Magazine, pp. 25-30, april 1989.
S. Grossberg and M. Kuperstein, Neural Dynamics of Adaptive Sensory-Motor Control. : North-Holland, 1986.
J. A. Walter, T. Martinetz, H. J. Ritter, and K. Schulten, "Industrial Robot Learns Visuo-motor Coordination by Means of Neural-Gas Network," Technical Report TB9107, Beckman lnstitute, UIUC, 1991.
L. Massone andE. Bizzi, "A Neural Network Model for Limb Trajectory Formation," Biological Cybernetics, vol. 61, pp. 417-425, 1989.
I. J. Michael, "S upervised learning and systems with excess degrees of freedom," COINS Technical Report 88-B7, pp. 1-40, may 1988.
V. K. Hawang, "Boundary Equations of Configuration Obstacles for Manipulators," Pmceed. of lhe IEEE Inter. Conf. on Robotics and Automation, pp. 298-303, 1990.
M. Kuperstein, "Adaptive Visual-Motor Coord ination in Multijoint Robots Using Parallel Architecture," in Proc. IEEE lnt Robotics a11d Automation (Raleigh, NC), pp. 1595-1602, march 1987.
M. Kuperstein, "Neural model of adaptive hand-eye coordination for single postures," Science, vol. 239, pp. 1308-1311, march 1988.
J. Hyvarinen and A. Poranen, "Function of the parietal associative area 7 as revealed from cellular discharges in aler monkeys," Bmin, vol. 97, pp. 673-692, 1974.
W. 8. M. et al., "Posterior Parietal Association Cortex of the Monkey: command Functions for Operations within Extrapersonal Space," Journal of Neurophysiology, vol. 38, pp. 871-908, 1975.
J. J. Craig, Introduction to Robotics Mechanics and Control. Addison-Wesley Publishing, 1986.
P. S. Churchland and T. J. Seijnowshi, The Computational Brain. Cambridge, Mas sachusetts: MIT Press, 1992.
E. R. Kandel and J. H. Schwartz, Principies of Neural Science. P.O. Box 211, 1000 AE Amsterdam, The Netherlands: Elsevier Science Publishing Co., Inc., 1985.
T. P. R. Campos, "(in press)," Revista Brasileira de Computação.
T. Campos and K. Schulten, "Learning All Possible Postures of a Real Arm Robot," in lntelligent Engineering Systems Through Artificial Neural Networks, ANNIE 92, (St. Louis, Illinois), pp. 793-801, Nov. 1992.
R. C. Trip, R. Granger, and G. Lynch, "A Cortical Model of Winner-Take-A ll Competition Via," Neural Network, vol. 5, pp. 47-54, 1992.
T. Kohonen, Self-Organization and Associative Memory. New York: Springer-Verlag, 1984.
T. Kohonenb, "Self-organized formation of topologically correct feature maps," Biological Cybernetics, vol. 43, pp. 59-69, 1982.
J. R. Munkres, Topology: A First Course. New Jersey: Prentice-Hall lnc., 1975.
H. Ritter and K. Schultenb, "On the Stationary State of Kohonen's Self-Organizing Sensory Mapping," Biological Cybernetics, vol. 54, pp. 99-106, 1986.
H. Ritter and K. Schultenb, "Kohonen's self-organizing maps: exploring their computational capabilities," in IEEE lnternational conference on Neural Network, vol. 2, pp. 109-116, july 1986.
J. H. Ritter, T. M. Martinetz, and K. Schulten, "Topology Conserving Maps for Learning Visuo-Motor Coordination," Neural Networks, vol. 2, pp. 159168, 1988.
T. Martinetz, H. J. Ritter, and K. Schulten, "Three-Dimensional Neural Net for Learning Visuomotor Coordination of a Robot Arm," IEEE Transactions on Neural Networks, vol. 1. pp. 131-136, march 1990.
B. J. Saxon and A. Mukerjee, "Learning The Motion Map of a Robot Arm with Neural Networks," in IJNN, (San Diego), pp. 777-782, 1990.
D. H. Graf, A Neural Controller for Collision-Free Movement of Robot Manipulatiors. Master's thesis, School of Computer Science, Carleton University, Ottawa, Ontario, August 1988.
D. H. Graf and W. R. LaLonde, "A Neural Controller For Collision-Free Movement of General Robot Manipulators," in Proc. IEEE First Intl. Conf. on Neural Networks, (San Diego, Cal.), pp. 77-84, July 1988.
M. Kuperstein and J. Rubinstein, "lmplementation of an Adaptive Neural Controller for Sensory-Motor Coordination," IEEE Control Systems Magazine, pp. 25-30, april 1989.
S. Grossberg and M. Kuperstein, Neural Dynamics of Adaptive Sensory-Motor Control. : North-Holland, 1986.
J. A. Walter, T. Martinetz, H. J. Ritter, and K. Schulten, "Industrial Robot Learns Visuo-motor Coordination by Means of Neural-Gas Network," Technical Report TB9107, Beckman lnstitute, UIUC, 1991.
L. Massone andE. Bizzi, "A Neural Network Model for Limb Trajectory Formation," Biological Cybernetics, vol. 61, pp. 417-425, 1989.
I. J. Michael, "S upervised learning and systems with excess degrees of freedom," COINS Technical Report 88-B7, pp. 1-40, may 1988.
V. K. Hawang, "Boundary Equations of Configuration Obstacles for Manipulators," Pmceed. of lhe IEEE Inter. Conf. on Robotics and Automation, pp. 298-303, 1990.
M. Kuperstein, "Adaptive Visual-Motor Coord ination in Multijoint Robots Using Parallel Architecture," in Proc. IEEE lnt Robotics a11d Automation (Raleigh, NC), pp. 1595-1602, march 1987.
M. Kuperstein, "Neural model of adaptive hand-eye coordination for single postures," Science, vol. 239, pp. 1308-1311, march 1988.
J. Hyvarinen and A. Poranen, "Function of the parietal associative area 7 as revealed from cellular discharges in aler monkeys," Bmin, vol. 97, pp. 673-692, 1974.
W. 8. M. et al., "Posterior Parietal Association Cortex of the Monkey: command Functions for Operations within Extrapersonal Space," Journal of Neurophysiology, vol. 38, pp. 871-908, 1975.
Publicado
01/08/1994
Como Citar
CAMPOS, Tarcísio Passos Ribeiro de.
On The Early Research in Visuo-Motor Coordination based on Neural Networks. In: INTERNATIONAL SYMPOSIUM ON COMPUTER ARCHITECTURE AND HIGH PERFORMANCE COMPUTING (SBAC-PAD), 6. , 1994, Caxambu.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
1994
.
p. 331-341.
DOI: https://doi.org/10.5753/sbac-pad.1994.21895.
