TCB Publications - Abstract

Helge Ritter, Thomas Martinetz, and Klaus Schulten. Topology-conserving maps for motor control. In L. Personnaz and G. Dreyfus, editors, Neural Networks: From Models to Applications, N'EURO '88, pp. 579-591. EZIDET, Paris, 1989.

RITT89B We apply an extension of Kohonen's algorithm for the formation of topologically correct feature maps to the task of learning movements of a three-link robot arm. We find an increased robustness of the learning algorithm and an adaptive, demand driven representation of the input-output relationship as significant benefits of the topology conserving map. We suggest one-dimensional topology conserving maps as an interesting approach to trajectory formation for robots.

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