Developmental model of sensorimotor map acquisition for a humanoid robot

Majure, Lydia

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https://hdl.handle.net/2142/45648 Copy

Description

Title

Developmental model of sensorimotor map acquisition for a humanoid robot

Author(s)

Majure, Lydia

Issue Date

2013-08-22T16:56:39Z

Director of Research (if dissertation) or Advisor (if thesis)

Levinson, Stephen E.

Doctoral Committee Chair(s)

Levinson, Stephen E.

Committee Member(s)

• Coleman, Todd P.
• Hasegawa-Johnson, Mark A.
• Huang, Thomas S.

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

Ph.D.

Degree Level

Dissertation

Keyword(s)

• Cognitive Developmental Robotics
• Artificial Intelligence
• Humanoid Robotics
• Machine Learning
• Neural Dynamics

Abstract

Cognitive developmental robotics unites machine learning and neuroscience with the aim of creating robots which display the robustness and efficiency of human cognition. This document proposes a novel method for acquiring a visuomotor mapping for hand-eye coordination. This model is trained on the iCub humanoid robot and used for smooth control of reaching. Applications of this model to sensorimotor associative learning are examined. In addition, a derivation of the self-organizing map from neural dynamics is presented. This dissertation is part of an overarching goal of developing a platform-independent model of intelligent systems.

Graduation Semester

2013-08

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http://hdl.handle.net/2142/45648

Copyright and License Information

Copyright 2013 Lydia Majure

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