Summary and Conclusion
The capabilities of the brain, be it human or animal, have always had a special appeal to researchers. How the learning of a body schema  and corresponding motor control could look like in the brain is the particular motivation of this thesis, approached from a computer science perspective. Different learning algorithms were evaluated and integrated into a control framework able to use a simulated, anthropomorphic arm to reach given target locations. The framework was not built to primarily achieve this task with maximum performance, but instead to model respective brain functionality.
KeywordsJoint Angle Kinematic Model Rubber Hand Servo Motor Body Schema
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