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  Learning visuomotor transformations for gaze-control and grasping

Hoffmann, H., Schenck, W., & Möller, R. (2005). Learning visuomotor transformations for gaze-control and grasping. Biological Cybernetics, 93(2), 119-130. doi:10.1007/s00422-005-0575-x.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0010-C331-7 Version Permalink: http://hdl.handle.net/11858/00-001M-0000-002C-29D8-9
Genre: Journal Article

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 Creators:
Hoffmann, Heiko1, Author              
Schenck, Wolfram2, Author              
Möller, Ralf2, Author              
Affiliations:
1MPI for Psychological Research (Munich, -2003), The Prior Institutes, MPI for Human Cognitive and Brain Sciences, Max Planck Society, ou_634573              
2External Organizations, ou_persistent22              

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 Abstract: For reaching to and grasping of an object, visual information about the object must be transformed into motor or postural commands for the arm and hand. In this paper, we present a robot model for visually guided reaching and grasping. The model mimics two alternative processing pathways for grasping, which are also likely to coexist in the human brain. The first pathway directly uses the retinal activation to encode the target position. In the second pathway, a saccade controller makes the eyes (cameras) focus on the target, and the gaze direction is used instead as positional input. For both pathways, an arm controller transforms information on the target’s position and orientation into an arm posture suitable for grasping. For the training of the saccade controller, we suggest a novel staged learning method which does not require a teacher that provides the necessary motor commands. The arm controller uses unsupervised learning: it is based on a density model of the sensor and the motor data. Using this density, a mapping is achieved by completing a partially given sensorimotor pattern. The controller can cope with the ambiguity in having a set of redundant arm postures for a given target. The combined model of saccade and arm controller was able to fixate and grasp an elongated object with arbitrary orientation and at arbitrary position on a table in 94% of trials.

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 Dates: 2005
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: eDoc: 277932
Other: P5880
DOI: 10.1007/s00422-005-0575-x
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Title: Biological Cybernetics
  Other : Biol. Cybern.
Source Genre: Journal
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Publ. Info: Berlin : Springer
Pages: - Volume / Issue: 93 (2) Sequence Number: - Start / End Page: 119 - 130 Identifier: ISSN: 0340-1200
CoNE: https://pure.mpg.de/cone/journals/resource/954927549307