Visual–Motor Coordination Using a Quantum Clustering Based Neural Control Scheme

摘要

Visual–Motor Coordination is a problem considered analogous to the hand-eye coordination in biological systems. In this work we propose a novel approach to this problem using Quantum Clustering and an extended Kohonen's Self-Organizing Feature Map (K-SOFM). This facilities the use of the method in varying workspaces by considering the joint angles of the robot arm. Unlike previous work, where a fixed topology for the input space is considered, the proposed approach determines a topology as the workspace varies. Quantum Clustering is a method which constructs a scale-space probability function and uses the Schroedinger equation and its lowest eigenstate to obtain a potential whose minimum gives the cluster centers. It transforms the input space into a Hilbert space, where it searches for its minimum. The motivation of this work is to identify the implicit relationship existing between the end-effector positions and the joint angles through Quantum Clustering and Neural Network methods to fine-tune the system to correctly identify the mapping.