Sensorimotor Learning Using Active Perception in Continuous Domains

We propose that some aspects of task based learning in robotics can be approached using nativist and constructivist views on human sensorimotor development as a metaphor. We use findings in developmental psychology, neurophysiology, and machine perception to guide a robotic learning system's level of representation both for actions and for percepts. Visually driven grasping is chosen as the experimental task since it has general applicability and it has been extensively researched from several perspectives. An implementation of a robotic system with a dexterous three fingered hand, compliant instrumented wrist, arm and vision is used to test these ideas. Several sensorimotor primitives (vision segmentation and manipulatory reflexes) are implemented in this system and may be though of as the "innate" perceptual and motor abilities