Touch Perception with SOM, Growing Cell Structures and Growing Grids
Johnsson, Magnus LU ; Gil Mendez, David and Balkenius, Christian LU
(2008)
Towards Autonomous Robotic Systems 2008
p.79-85
- Abstract
- We have implemented four bio-inspired selforganizing
haptic systems based on proprioception on a 12
d.o.f. anthropomorphic robot hand. The four systems differ in
the kind of self-organizing neural network used for clustering.
For the mapping of the explored objects, one system uses a Self-
Organizing Map (SOM), one uses a Growing Cell Structure
(GCS), one uses a Growing Cell Structure with Deletion of
Neurons (GCS-DN) and one uses a Growing Grid (GG). The
systems were trained and tested with 10 different objects
of different sizes from two different shape categories. The
generalization abilities of the systems were tested with 6 new
objects.... (More) - We have implemented four bio-inspired selforganizing
haptic systems based on proprioception on a 12
d.o.f. anthropomorphic robot hand. The four systems differ in
the kind of self-organizing neural network used for clustering.
For the mapping of the explored objects, one system uses a Self-
Organizing Map (SOM), one uses a Growing Cell Structure
(GCS), one uses a Growing Cell Structure with Deletion of
Neurons (GCS-DN) and one uses a Growing Grid (GG). The
systems were trained and tested with 10 different objects
of different sizes from two different shape categories. The
generalization abilities of the systems were tested with 6 new
objects. The systems showed good performance with the objects
from both the training set as well as in the generalization
experiments, i.e. they mapped the objects according to shape
and size and discriminated individual objects. The GCS-DN
system managed to evolve disconnected networks representing
different clusters in the input space (small cylinders, large
cylinders, small blocks, large blocks), and the generalization
samples activated neurons in a proper subnetwork in all but
one case. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1288021
- author
- Johnsson, Magnus
LU
; Gil Mendez, David
and Balkenius, Christian
LU
- organization
- publishing date
- 2008
- type
- Contribution to conference
- publication status
- published
- subject
- pages
- 7 pages
- conference name
- Towards Autonomous Robotic Systems 2008
- conference location
- Edinburgh, United Kingdom
- conference dates
- 2008-09-01 - 2008-09-03
- project
- Ikaros: An infrastructure for system level modelling of the brain
- language
- English
- LU publication?
- yes
- id
- b3fced41-2b17-4e23-a44e-78fd3cbd22ef (old id 1288021)
- date added to LUP
- 2016-04-04 13:46:28
- date last changed
- 2019-09-06 02:18:12
@misc{b3fced41-2b17-4e23-a44e-78fd3cbd22ef,
abstract = {{We have implemented four bio-inspired selforganizing<br/><br>
haptic systems based on proprioception on a 12<br/><br>
d.o.f. anthropomorphic robot hand. The four systems differ in<br/><br>
the kind of self-organizing neural network used for clustering.<br/><br>
For the mapping of the explored objects, one system uses a Self-<br/><br>
Organizing Map (SOM), one uses a Growing Cell Structure<br/><br>
(GCS), one uses a Growing Cell Structure with Deletion of<br/><br>
Neurons (GCS-DN) and one uses a Growing Grid (GG). The<br/><br>
systems were trained and tested with 10 different objects<br/><br>
of different sizes from two different shape categories. The<br/><br>
generalization abilities of the systems were tested with 6 new<br/><br>
objects. The systems showed good performance with the objects<br/><br>
from both the training set as well as in the generalization<br/><br>
experiments, i.e. they mapped the objects according to shape<br/><br>
and size and discriminated individual objects. The GCS-DN<br/><br>
system managed to evolve disconnected networks representing<br/><br>
different clusters in the input space (small cylinders, large<br/><br>
cylinders, small blocks, large blocks), and the generalization<br/><br>
samples activated neurons in a proper subnetwork in all but<br/><br>
one case.}},
author = {{Johnsson, Magnus and Gil Mendez, David and Balkenius, Christian}},
language = {{eng}},
pages = {{79--85}},
title = {{Touch Perception with SOM, Growing Cell Structures and Growing Grids}},
year = {{2008}},
}