{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/45648"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/45648","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Developmental model of sensorimotor map acquisition for a humanoid robot","abstract":"Cognitive developmental robotics unites machine learning and neuroscience with the aim of creating robots which display the robustness and efficiency of human cognition. This document proposes a novel method for acquiring a visuomotor mapping for hand-eye coordination. This model is trained on the iCub humanoid robot and used for smooth control of reaching. Applications of this model to sensorimotor associative learning are examined. In addition, a derivation of the self-organizing map from neural dynamics is presented. 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