Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand

Figure 3

Schematic depiction of the systems. The commander module executes the grasps by sending high-level motor commands to the motor driver, which translates and conveys the information to the servo controller board of the robot hand. When the robot hand has become fully closed around the object, the commander module requests a scanning of the 11 proprioceptive sensors of the robot hand. The sensory information is conveyed as a vector to a Self-Organizing ANN (SO-ANN). The SO-ANN is a Self-Organizing-Map, a Growing Cell Structures, a Growing Cell Structures with Deletion of Neurons, or a Growing Grid.