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Theses, dissertations and research publications (including journal articles, conference abstracts and books) from Lund University are collected in this database. Where possible, the option to download a full text document is available. It is also possible to search for Lund University student theses in the student theses database.
| Title | Touch Perception with SOM, Growing Cell Structures and Growing Grids |
| Author/s | Magnus Johnsson, David Gil Mendez, Christian Balkenius |
| Department/s |
Cognitive Science
|
| Full-text | Full text is not available in this archive |
| Publishing year | 2008 |
| Pages | 7 |
| Pages | 79 - 85 |
| Document type | Conference |
| Conference name | Towards Autonomous Robotic Systems 2008 |
| Conference date | 2008-09-01/2008-09-03 |
| Conference location | University of Edinburgh, Edinburgh, UK |
| Status | published |
| Quality controlled | yes |
| Editor | S Ramamoorthy |
| Language | English |
| Abstract English |
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. |
| Subject |
Science General |
| Research group | Lund University Cognitive Science (LUCS) |
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