Extending Kohonen’s Self-Organizing Mapping Algorithm to Learn Ballistic Movements

  • Helge Ritter
  • Klaus Schulten
Part of the Springer Study Edition book series (volume 41)

Abstract

Rapid limb movements are known to be initiated by a brief torque pulse at the joints and to proceed freely thereafter (ballistic movements). To initiate such movements with a desired starting velocity u requires knowledge of the relation between torque pulse and desired velocity of the limb. We show for a planar two-link arm model that this relationship can be learnt with the aid of a self-organizing mapping of the type proposed earlier by Kohonen. To this end we extend Kohonen’s algorithm by a suitable learning rule for the individual units and show that this approach results in a significant improvement in the convergency properties of the learning rule used.

Keywords

Manifold Torque 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Brady M., Hollerbach J.M., Johnson T.L., Lozano-Perez T., Mason M.T. (eds): Robot Motion: Planning and Control, Cambridge Massachusets: MIT-Press 1984Google Scholar
  2. 2.
    Kohonen T.: Self-organized Formation of Topologically Correct Feature Maps. Biol. Cybern. 43, pp. 59–69 (1982)CrossRefMathSciNetMATHGoogle Scholar
  3. 3.
    Kohonen T.: Analysis of a Simple Self-organizing Process. Biol. Cybern. 44, pp. 135–140 (1982)CrossRefMathSciNetMATHGoogle Scholar
  4. 4.
    Kohonen T.: Self-Organization and Associative Memory, Heidelberg, Springer Series in Information Sciences 8 , 1984MATHGoogle Scholar
  5. 5.
    Ritter H., Schulten K.: On the stationary state of Kohonen’s Self-Organizing Sensory Mapping. Biol.Cybern. 54, pp. 99–106 (1986)CrossRefMATHGoogle Scholar
  6. 6.
    Ritter H., Schulten K.: Topology Conserving Mappings for Learning Motor Tasks. In J.S. Denker (Ed.), Neural Networks for Computing, AIP Conf. Proceedings 151, Snowbird/Utah 1986Google Scholar
  7. 7.
    Rumelhart D.E., McClelland J.L.: Parallel Distributed Processing (Vol.1), Cambridge Massachusets: MIT-Press 1984Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • Helge Ritter
    • 1
  • Klaus Schulten
    • 1
  1. 1.Physik-DepartmentTechnische Universität MünchenGarchingFederal Republic of Germany

Personalised recommendations