TCB Publications - Abstract

Thomas Martinetz, Helge Ritter, and Klaus Schulten. Learning of visuo motor-coordination of a robot arm with redundant degrees of freedom. In R. Eckmiller, G. Hartmann, and G. Hauske, editors, Parallel Processing in Neural Systems and Computers, pp. 431-434. Elsevier, Amsterdam, 1990.

MART90A An improved version of an earlier introduced algorithm for learning of visuomotor-coordination has been successfully applied to a simulated robot arm system with five degrees of freedom, two of which are redundant. The learning algorithm was not affected by this redundancy, and with the improved version the robot arm system is able to reduce its positioning error to about 5

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