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Self-organization via active exploration: hardware implementation of a neural robot

Published online by Cambridge University Press:  05 April 2001

Ramkrishna V. Prakash and
Haluk Ögˇmen
Ramkrishna V. Prakash
Affiliation:
Department of Electrical and Computer Engineering, University of Houston, Houston, Texas 77204-4793, USA Email: rprakash@uh.edu,ogmen@uh.edu.
Haluk Ögˇmen
Affiliation:
Department of Electrical and Computer Engineering, University of Houston, Houston, Texas 77204-4793, USA Email: rprakash@uh.edu,ogmen@uh.edu.
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Abstract

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In a previous paper we presented a neural network called FRONTAL that attempted to capture the ability of infants to actively self-organize in a non-stationary environment. This paper describes the procedure whereby FRONTAL is interfaced to a robotic system called DART. DART comprises of a PUMA-562 arm and a real-time image processing system. The implementation procedure consisted of first connecting FRONTAL to a simulated DART robot. After successful operation, FRONTAL was connected to the real hardware DART. The ability of this robotic system to actively explore its surroundings and modify its behavior based on experience and environmental feedback confirms previous simulation results.

Keywords

Neural robotFRONTALDARTExplorationBehavior modificationSelf-organization

Information

Type
Research Article
Information
Robotica , Volume 16 , Issue 2 , March 1998, pp. 127 - 141
Copyright
1998 Cambridge University Press