University of Hertfordshire

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From unknown sensors and actuators to actions grounded in sensorimotor perceptions

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From unknown sensors and actuators to actions grounded in sensorimotor perceptions. / Olsson, Lars A.; Nehaniv, Chrystopher L.; Polani, Daniel.

In: Connection Science, Vol. 18, No. 2, 01.06.2006, p. 121-144.

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@article{79ae2823d850415c8ccec1b78b953c46,
title = "From unknown sensors and actuators to actions grounded in sensorimotor perceptions",
abstract = "This article describes a developmental system based on information theory implemented on a real robot that learns a model of its own sensory and actuator apparatus. There is no innate knowledge regarding the modalities or representation of the sensory input and the actuators, and the system relies on generic properties of the robots world, such as piecewise smooth effects of movement on sensory changes. The robot develops the model of its sensorimotor system by first performing random movements to create an informational map of the sensors. Using this map, the robot then learns what effects the different possible actions have on the sensors. After this developmental process, the robot can perform basic visually guided movement.",
keywords = "Developmental robotics, Emergence of structure, Information theory",
author = "Olsson, {Lars A.} and Nehaniv, {Chrystopher L.} and Daniel Polani",
year = "2006",
month = jun,
day = "1",
doi = "10.1080/09540090600768542",
language = "English",
volume = "18",
pages = "121--144",
journal = "Connection Science",
issn = "0954-0091",
publisher = "Taylor and Francis AS",
number = "2",

}

RIS

TY - JOUR

T1 - From unknown sensors and actuators to actions grounded in sensorimotor perceptions

AU - Olsson, Lars A.

AU - Nehaniv, Chrystopher L.

AU - Polani, Daniel

PY - 2006/6/1

Y1 - 2006/6/1

N2 - This article describes a developmental system based on information theory implemented on a real robot that learns a model of its own sensory and actuator apparatus. There is no innate knowledge regarding the modalities or representation of the sensory input and the actuators, and the system relies on generic properties of the robots world, such as piecewise smooth effects of movement on sensory changes. The robot develops the model of its sensorimotor system by first performing random movements to create an informational map of the sensors. Using this map, the robot then learns what effects the different possible actions have on the sensors. After this developmental process, the robot can perform basic visually guided movement.

AB - This article describes a developmental system based on information theory implemented on a real robot that learns a model of its own sensory and actuator apparatus. There is no innate knowledge regarding the modalities or representation of the sensory input and the actuators, and the system relies on generic properties of the robots world, such as piecewise smooth effects of movement on sensory changes. The robot develops the model of its sensorimotor system by first performing random movements to create an informational map of the sensors. Using this map, the robot then learns what effects the different possible actions have on the sensors. After this developmental process, the robot can perform basic visually guided movement.

KW - Developmental robotics

KW - Emergence of structure

KW - Information theory

UR - http://www.scopus.com/inward/record.url?scp=33745589242&partnerID=8YFLogxK

U2 - 10.1080/09540090600768542

DO - 10.1080/09540090600768542

M3 - Review article

AN - SCOPUS:33745589242

VL - 18

SP - 121

EP - 144

JO - Connection Science

JF - Connection Science

SN - 0954-0091

IS - 2

ER -