Coordinates transformation and learning control for visually-guided voluntary movement with iteration: A Newton-like method in a function space (Q1111974)

In order to control visually-guided voluntary movements, one must solve the following computational problems at different levels: (1) determination of a desired trajectory in the visual coordinates, (2) transformation of the coordinates of the desired trajectory to the body coordinates, (3) generation of motor command. In this paper, the second and third problems are treated at the computational, representational and hardware levels of Marr [see \textit{D. Marr}, Recognition of pattern and form. Proc. Conf. Univ. Texas at Austin 1979. Lecture Notes in Biomathematics 44, 59-87 (1982; Zbl 0497.68053)]. The authors study the problems at the computational level and propose an iterative learning scheme as a possible algorithm. They formulate this iterative learning control as a Newton-like method in function space and prove its convergence under appropriate conditions by using dynamical system theory. Computer simulations of this iterative learning control of a robotic manipulator in the body or visual coordinates are shown.