Connectionist Robot Motion Planning

Connectionist Robot Motion Planning

1st Edition - August 28, 1990

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  • Author: Bartlett Mel
  • eBook ISBN: 9780323141260

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Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching is the third series in a cluster of books on robotics and related areas as part of the Perspectives in Artificial Intelligence Series. This series focuses on an experimental paradigm using the MURPHY system to tackle critical issues surrounding robot motion planning. MURPHY is a robot-camera system developed to explore an approach to the kinematics of sensory-motor learning and control for a multi-link arm. Organized into eight chapters, this book describes the guiding of a multi-link arm to visual targets in a cluttered workspace. It primarily focuses on “ecological” solutions that are relevant to the typical visually guided reaching behaviors of humans and animals in natural environments. Algorithms that work well in unmodeled workspaces whose effective layouts can change from moment to moment with movements of the eyes, head, limbs, and body are also presented. This book also examines the strengths of neurally inspired connectionist representations and the utility of heuristic search when good performance, even if suboptimal, is adequate for the task. The co-evolution of MURPHY’s design with the brain, presumably in response to similar computational pressures, is described in the concluding chapters, specifically presenting the division of labor between programmed-feedforward and visual-feedback modes of limb control. Design engineers in the fields of biology, neurophysiology, and cognitive psychology will find this book of great value.

Table of Contents

  • Preface


    1 Introduction

    2 MURPHY's Organization

    The Physical Setup

    The Connectionist Architecture

    Representational Choices

    MURPHY's Kinematics

    Traditional Methods

    Connectionist Kinematics

    The Sequential Controller

    3 How MURPHY Learns

    Learning by Doing

    Abridged History of the Idea

    Motivating Sigma-Pi Learning

    Connectionist Supervised Associative Learning

    A Historical Quandary

    New Algorithms Are More Powerful, Less Biological

    Changing Assumptions

    Learning Functions with Lookup-Tables

    Building Receptive Fields with Multiplication

    Sigma-Pi Learning

    The Sigma-Pi Unit

    The Learning Rule

    An Example

    Generalization to Novel Inputs

    K-d Tree Reimplementation

    4 MURPHY in Action

    Planning with Gradient Descent

    Motion Planning with Obstacles

    Four Visual Routines

    The Search Procedure


    Visual-Feedback Control

    System Performance and Scaling Behavior

    Implementation and Performance Notes

    Scaling MURPHY Up

    5 Robotics Issues

    Learning vs. Built-in Models

    Style of Representation

    Using the Full Visual Channel

    Styles of Robot Motion Planning

    Artificial Potential Fields: Local Methods

    Geometric Motion Planning: Global Methods

    Hybrid Methods: Incorporating Heuristic Search

    MURPHY Uses Direct Heuristic Search

    6 Psychological Issues

    Psychoanalyzing MURPHY

    Development and Plasticity in Limb Control

    The Necessity of Active Sensory-Motor Learning

    Developmental Evidence for Two Modes of Control

    Possible Evidence for Local Learning

    Models, Imagery, Practice, and Stability

    Building and Using Mental Models

    Mental Imagery

    Mental Practice: Learning by Thinking

    Corollary Discharges and Perceptual Stability

    Summary of Psychological Issues

    7 Biological Issues

    The Muscle Interface

    A Cortical Basis for Visual Limb Control

    A Programmed-Feedforward Neural Subsystem

    A Visual-Feedback Neural Subsystem

    Summary of Biological Issues

    8 Conclusions

    Scientific and Engineering Lessons Learned

    Learning by Doing

    Learning with Lookup-Tables

    The Connectionist Architecture

    Mental Models, Heuristic Search

    Reflections on Brain and Behavior

    Future Directions

    Pragmatic Extensions

    Theoretical Extensions



Product details

  • No. of pages: 182
  • Language: English
  • Copyright: © Academic Press 1990
  • Published: August 28, 1990
  • Imprint: Academic Press
  • eBook ISBN: 9780323141260

About the Author

Bartlett Mel

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