Abstract
This article proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector at targets given in the camera images. The maps also make the manipulator take obstacle-free poses. Multiple cameras are introduced to avoid occlusions, and multiple SOMs are introduced to deal with multiple camera images. Some simulation results are shown.
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This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009
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Okada, N., Qiu, J., Nakamura, K. et al. Multiple self-organizing maps for a visuo-motor system that uses multiple cameras with different fields of view. Artif Life Robotics 14, 114 (2009). https://doi.org/10.1007/s10015-009-0639-4
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DOI: https://doi.org/10.1007/s10015-009-0639-4