TCB Publications - Abstract

Thomas Martinetz, Helge Ritter, and Klaus Schulten. Three-dimensional neural net for learning visuo-motor coordination of a robot arm. IEEE Transactions on Neural Networks, 1:131-136, 1990.

MART90 An extension of Kohonen's self-organizing mapping algorithm together with an error-correction scheme based on the Widrow-Hoff learning rule is applied to develop a learning algorithm for the visuomotor coordination of a simulated robot arm. Learning occurs by a sequence of trial movements without the need of an external teacher. Using input signals from a pair of cameras, the"closed" robot arm system is able to reduce its positioning error to about 0.3 percent of the linear dimensions of its work space. This is achieved by choosing the connectivity of a 3D-lattice between the units of the neural net.

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