Using neural networks to learn hand-eye co-ordination

The work presented in this paper shows how the association of proprioceptive and exteroceptive stimuli can enable a Kohonen neural network, controlling a robot arm, to learn hand-eye co-ordination so that the arm can reach for and track a visually presented target. The approach presented in this work assumes no a priorimodel of arm kinematics or of the imaging characteristics of the cameras. No explicit representation, such as homogeneous transformations, is used for the specification of robot pose, and camera calibration and triangulation are done implicitly as the system adapts and learns its hand-eye co-ordination by experience. This research is validated on physical devices and not by simulation.