Math. Model. Nat. Phenom.
Volume 12, Number 4, 2017Complex Dynamics, Synchronization, and Emergent Behaviour in Neural Systems and Networks
|Page(s)||15 - 29|
|Published online||03 July 2017|
Limb Movement in Dynamic Situations Based on Generalized Cognitive Maps
Instituto de Matemática Interdisciplinar, Dept. de Matemática Aplicada, Universidad Complutense de Madrid, Avda. Complutense s/n, 28040 Madrid, Spain
2 Lobachevsky State University of Nizhny Novgorod, Gagarin Ave. 23, 603950 Nizhny Novgorod, Russia
** Corresponding author. E-mail: firstname.lastname@example.org
The fundamental bases of how our brain solves different tasks of object manipulation remain largely unknown. Here we consider the problem of the limb movement in dynamic situations on an abstract cognitive level and propose a novel approach relying on: i) transformation of the problem from the limb workspace to the so-called hand-space, and ii) construction of a generalized cognitive map (GCM) in the hand-space. The GCM provides a trajectory that can be followed by the limb, which ensures an efficient collision-free movement and target catching in the workspace. Our numerical simulations confirm the approach feasibility but also reveal the problem complexity. We then validate the GCM-based solutions in real-life scenarios. We show that a GCM-equipped humanoid robot can catch a fly ball in a similar way as a human subject does. The static nature of the GCMs enables learning and automation of sophisticated cognitive behaviors exhibited by humans.
Mathematics Subject Classification: 93C85 / 68T40 / 34G20
Key words: cognitive models / robot manipulators / internal representations / cognitive maps
© EDP Sciences, 2017
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