Grasping of extrafoveal targets: A robotic model

Publication year: 2011
Source: New Ideas in Psychology, Volume 29, Issue 3, December 2011, Pages 235-259

Wolfram, Schenck , Heiko, Hoffmann , Ralf, Möller

We present a computational model of grasping of non-fixated (extrafoveal) target objects which is implemented on a robot setup, consisting of a robot arm with cameras and gripper. This model is based on the premotor theory of attention (Rizzolatti et al., 1994) which states that spatial attention is a consequence of the preparation of goal-directed, spatially coded movements (especially saccadic eye movements). In our model, we add the hypothesis that saccade planning is accompanied by the prediction of the retinal images after the saccade. The foveal region of these predicted images can be used to determine the orientation and shape of…