Self-Organization of Visuo-Motor Map Considering an Obstacle

The visuo-motor map is based on the Kohonen's self-organizing map. The map is learned the relation of the end effecter coordinates and the joint angles. In this paper, a 3 d-o-fmanipulator which moves in the 2D space is targeted. A CCD camera is set beside the manipulator, and the end effecter coordinates are given from the image of a manipulator. As a result of learning, the end effecter can be moved to the destination without exact teaching.