The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

MSc Thesis #94137

Title:Learning the Mapping Between Sensor and Motor Spaces to Produce Hand-Eye Coordination
Date: 1994
Abstract:Coordination between sensory inputs and motor actions is essential for intelligent robotics. This dissertation considers the control of a simple manipulator using sensory information to locate the target position for the end-effector. The control mechanisms investigated all form topographic maps of possible configuration of the manipulator joints (the motor space) and the values of the sensor inputs (the sensor space). Various methods are considered for learning to relate a location on the sensor space map (which represents the target position in the world) and the location in the motor space map which will configure the manipulator to reach this target position. These methods are analysed using a computer simulation and a suitable algorithm to solve the hand-eye coordination problem is presented.

[Search These Pages] [DAI Home Page] [Comment]