A developmental approach to visually-guided reaching in artificial systems

The aim of the present paper is to propose that the adoption of a framework of biological development is suitable for the construction of artificial systems. We will argue that a developmental approach does provide unique insights on how to build highly complex and adaptable artificial systems. To illustrate our point, we will use as an example the acquisition of goal-directed reaching. In the initial part of the paper we will outline (a) how mechanisms of biological development can be adapted to the artificial world, and (b) how this artificial development differs from traditional engineering approaches to robotics. An experiment performed on an artificial system initially controlled by motor reflexes is presented, showing the acquisition of visuo-motor maps for ballistic control of reaching without explicit knowledge of the system’s kinematic parameters. q 1999 Elsevier Science Ltd. All rights reserved.

[1]  Arnold Gesell,et al.  The ontogenesis of infant behavior. , 1946 .

[2]  M. McGraw,et al.  Maturation of behavior. , 1946 .

[3]  R. Held,et al.  OBSERVATIONS ON THE DEVELOPMENT OF VISUALLY-DIRECTED REACHING. , 1964, Child development.

[4]  P. Rack,et al.  The effects of length and stimulus rate on tension in the isometric cat soleus muscle , 1969, The Journal of physiology.

[5]  Giulio Sandini,et al.  An anthropomorphic retina-like structure for scene analysis , 1980 .

[6]  S. Grillner.  Control of Locomotion in Bipeds, Tetrapods, and Fish , 1981 .

[7]  E. Bushnell.  The Ontogeny of Intermodal Relations: Vision and Touch in Infancy , 1981 .

[8]  H. Kinney,et al.  Sequence of Central Nervous System Myelination in Human Infancy. II. Patterns of Myelination in Autopsied Infants , 1988, Journal of neuropathology and experimental neurology.

[9]  M Kuperstein,et al.  Neural model of adaptive hand-eye coordination for single postures. , 1988, Science.

[10]  Christopher M. Brown,et al.  Intelligent gaze control in binocular vision , 1990, Proceedings. 5th IEEE International Symposium on Intelligent Control 1990.

[11]  吉川 恒夫,et al.  Foundations of robotics : analysis and control , 1990 .

[12]  M. Tistarelli,et al.  Towards vision guided manipulation , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[13]  Neville Hogan,et al.  Integrable Solutions of Kinematic Redundancy via Impedance Control , 1991, Int. J. Robotics Res..

[14]  Kalveram Kt,et al.  Controlling the dynamics of a two-joined arm by central patterning and reflex-like processing: A two-stage hybrid model , 1991 .

[15]  Dana H. Ballard,et al.  Principles of animate vision , 1992, CVGIP Image Underst..

[16]  D. O'Leary.  Development of connectional diversity and specificity in the mammalian brain by the pruning of collateral projections , 1992, Current Opinion in Neurobiology.

[17]  Ferdinando A. Mussa-Ivaldi,et al.  Vector summation of end-point impedance in kinematically redundant manipulators , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[18]  F. A. Mussa-lvaldi,et al.  Convergent force fields organized in the frog's spinal cord , 1993, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[19]  Giulio Sandini,et al.  A Binocular Active Vision System Using Space Variant Sensors: Exploiting Autonomous Behaviors for Sp , 1993 .

[20]  Nikolaos Papanikolopoulos,et al.  Adaptive robotic visual tracking: theory and experiments , 1993, IEEE Trans. Autom. Control..

[21]  Michael I. Jordan,et al.  A Model of the Learning of Arm Trajectories from Spatial Deviations , 1994, Journal of Cognitive Neuroscience.

[22]  Robert L. Sainburg,et al.  Contributions of vision and proprioception to accuracy in limb movements , 1994 .

[23]  S. Schaal,et al.  A Kendama Learning Robot Based on Bi-directional Theory , 1996, Neural Networks.

[24]  Giulio Sandini,et al.  Robust visual servoing in 3-D reaching tasks , 1996, IEEE Trans. Robotics Autom..

[25]  Rodney A. Brooks,et al.  Behavior-based humanoid robotics , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[26]  Ferdinando A. Mussa-Ivaldi,et al.  Nonlinear force fields: a distributed system of control primitives for representing and learning movements , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[27]  J. Konczak,et al.  The development toward stereotypic arm kinematics during reaching in the first 3 years of life , 1997, Experimental Brain Research.

[28]  Giulio Sandini,et al.  Oculo-motor stabilization reflexes: integration of inertial and visual information , 1998, Neural Networks.

[29]  Lacquaniti,et al.  Visuo‐motor transformations for arm reaching , 1998, The European journal of neuroscience.

[30]  Giulio Sandini,et al.  Visuo-inertial stabilization in space-variant binocular systems , 2000, Robotics Auton. Syst..