| Popis: |
This paper presents a new neural net ap- proach to robot visuo-motor coordination. The ap- proach, refered to here as "neurobotics" , establishes neural net-based visual error servoing as a fundamen- tal mechanism of implementing visuo-motor coordi- nation. Visual error servoing is achieved by project- ing the robot task space on the 3D perception net (representing the robot internal 3D space) and gen- erating an incremental change of 3D space arm con- figuration in the 3D perception net based on poten- tial field-based reactive path planning. The 3D space arm configuration planned in the 3D perception net is then translated into the corresponding joint angles through the arm kinematic net. The arm kinematic net is formed based on hierarchically self-organizing competitive and cooperative network. Simulation re- sults are shown. |
