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6 x 9, illustrated
ISSN
0899-7667
E-ISSN
1530-888X
2014 Impact factor:
2.21

Neural Computation

July 2011, Vol. 23, No. 7, Pages 1821-1834
(doi: 10.1162/NECO_a_00138)
© 2011 Massachusetts Institute of Technology
A Neural Network Model for the Acquisition of a Spatial Body Scheme Through Sensorimotor Interaction
Article PDF (346.57 KB)
Abstract

This letter presents a novel unsupervised sensory matching learning technique for the development of an internal representation of three-dimensional information. The representation is invariant with respect to the sensory modalities involved. Acquisition of the internal representation is demonstrated with a neural network model of a sensorimotor system of a simple model creature, consisting of a tactile-sensitive body and a multiple-degrees-of-freedom arm with proprioceptive sensitivity. Acquisition of the 3D representation as well as a distributed representation of the body scheme, occurs through sensorimotor interactions (i.e., the sensory-motor experience of the creature). Convergence of the learning is demonstrated through computer simulations for the model creature with a 7-DoF arm and a spherical body covered by 20 tactile fields.