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Robotics and Autonomous Systems
Volume 20, Issues 2-4 Abstract
June 1997 Journal Format-PDF (1546 K)
Pages 157-178


PII: S0921-8890(97)80707-5

Sensory-motor coordination: The metaphor and beyond

Rolf Pfeifera, * and Christian Scheiera

a AI Lab, Department of Computer Science, University of Zurich H-8057 Zurich Switzerland

Available online 13 May 1998.

Abstract

Any agent in the real world has to be able to make distinctions between different types of objects, i.e. it must have the competence of categorization. In mobile agents, there is a large variation in proximal sensory stimulation originating from the same object. Therefore, categorization behavior is hard to achieve, and the successes in the past in solving this problem have been limited. In this paper it is proposed that the problem of categorization in the real world is significantly simplified if it is viewed as one of sensory-motor coordination, rather than one of information processing happening "on the input side". A series of models are presented to illustrate the approach. It is concluded that we should consider replacing the metaphor of information processing for intelligent systems by the one of sensory-motor coordination. However, the principle of sensory-motor coordination is more than a metaphor. It offers concrete mechanisms for putting agents to work in the real world. These ideas are illustrated with a series of experiments.

Author Keywords: Sensory-motor coordination; Categorization; Autonomous agents; Learning

Index Terms: Robot learning; Artificial intelligence; Mobile robots; Sensory motor coordination; Categorization; Autonomous agents

*Corresponding author.


Robotics and Autonomous Systems Abstract
Journal Format-PDF (1546 K)
Volume 20, Issues 2-4
June 1997
Pages 157-178


4 of 13 Article ListPreviousNext
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