title: Three-dimensional neural net for learning visuomotor coordination of a robot arm.
abstract: An extension of T. Kohonen's (1982) 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 for 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% of the linear dimensions of its work space. This is achieved by choosing the connectivity of a three-dimensional lattice consisting of the units of the neural net.
authors.affiliation: Dept. of Phys., Illinois Univ., Urbana, IL.
authors.forename: T M
authors.initials: TM
authors.lastname: Martinetz
authors.forename: H J
authors.initials: HJ
authors.lastname: Ritter
authors.forename: K J
authors.initials: KJ
authors.lastname: Schulten