Body Scheme Acquisition by Cross Modal Map Learning among Tactile, Visual, and Proprioceptive Spaces
Body Scheme Acquisition by Cross Modal Map Learning among Tactile, Visual, and Proprioceptive Spaces
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通过触觉、视觉和本体感受空间之间的跨模态地图学习获取身体方案
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
K. Hosoda
中科院分区：
文献类型：
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作者：
Y. Yoshikawa;H. Kawanishi;M. Asada;K. Hosoda
如何表征自己的身体是认知发展机器人学中最有趣的问题之一，它旨在了解智能机器人所需要的认知发展过程以及如何在物理实体中实现这些过程。本文提出了一个认知模型，机器人如何获得自己的身体表示，即身体计划的身体表面。内部观察者假设使得机器人难以将来自不同模态的感觉信息相关联，因为它们之间缺乏通常由设计者在机器人的产前阶段给出的参考。我们的模型是基于连接，视觉和触觉传感器空间之间的跨模态映射学习，当它们被同时激活时，通过关联不同的传感器值对。我们展示了一个初步的实验，然后讨论我们的模型如何解释报告的现象，身体计划和未来的问题。
How to represent own body is one of the most interesting issues in cognitive developmental robotics which aims to understand the cognitive developmental processes that an intelligent robot would require and how to realize them in a physical entity. This paper presents a cognitive model how the robot acquires its own body representation, that is body scheme for the body surface. The internal observer assumption makes it difficult for a robot to associate the sensory information from different modalities because of the lacking of references between them that are usually given by the designer in the prenatal stage of the robot. Our model is based on cross-modal map learning among join, vision, and tactile sensor spaces by associating different pairs of sensor values when they are activated simultaneously. We show a preliminary experiment, and then discuss how our model can explain the reported phenomenon on body scheme and future issues.
影响因子：
4.3
作者：
Asada, M;MacDorman, KF;Kuniyoshi, Y
通讯作者：
Kuniyoshi, Y