Cogprints

Simulating development in a real robot: on the concurrent increase of sensory, motor, and neural complexity

Gomez, Gabriel and Lungarella, Max and Eggenberger Hotz, Peter and Matsushita, Kojiro and Pfeifer, Rolf (2004) Simulating development in a real robot: on the concurrent increase of sensory, motor, and neural complexity. [Conference Paper]

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Abstract

We present a quantitative investigation on the effects of a discrete developmental progression on the acquisition of a foveation behavior by a robotic hand-arm-eyes system. Development is simulated by (a) increasing the resolution of visual and tactile systems, (b) freezing and freeing mechanical degrees of freedom, and (c) adding neuronal units to the neural control architecture. Our experimental results show that a system starting with a low-resolution sensory system, a low precision motor system, and a low complexity neural structure, learns faster that a system which is more complex at the beginning.

Item Type:Conference Paper
Keywords:visual foveation, robotic hand, developmental progression, neural networks
Subjects:Computer Science > Machine Learning
Computer Science > Neural Nets
Computer Science > Robotics
ID Code:4064
Deposited By:Prince, Dr Christopher G.
Deposited On:14 Apr 2005
Last Modified:11 Mar 2011 08:55

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