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Title:Developmental model of sensorimotor map acquisition for a humanoid robot
Author(s):Majure, Lydia
Director of Research:Levinson, Stephen E.
Doctoral Committee Chair(s):Levinson, Stephen E.
Doctoral Committee Member(s):Coleman, Todd P.; Hasegawa-Johnson, Mark A.; Huang, Thomas S.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(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.
Issue Date:2013-08-22
Rights Information:Copyright 2013 Lydia Majure
Date Available in IDEALS:2013-08-22
Date Deposited:2013-08

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