On the Design of a Multimodal Cognitive Architecture for Perceptual Learning in Industrial Robots

摘要

Robots can be greatly benefited from the integration of artificial senses in order to adapt to changing worlds. To be effective in complex unstructured environments robots have to perceive the environment and adapt accordingly. In this paper, it is introduced a biology inspired multimodal architecture called M_2ARTMAP which is based on the biological model of sensorial perception and has been designed to be a more versatile alternative to data fusion techniques and non-modular neural architectures. Besides the computational overload compared to FuzzyARTMAP, M_2ARTMAP reaches similar performance. This paper reports the results found in simulated environments and also the observed results during assembly operations using an industrial robot provided with vision and force sensing capabilities.