Three-layers sensory-motor model

The basis of the control architecture is the Per-Ac block designed by the ETIS team, Cergy Pontoise [14]. The platform is a Koala robot provided by K-Team SA (Switzerland). The idea here is to build primary layers which both display external signals to the secondary layer and receive a signal from it, thus interpreting inner dynamical responses. In this case, we have two primary layers, one corresponding to visual perception and the other corresponding to the perception of motor movements. We thus have a system with $P=3$ populations, index 1 corresponding to the visual primary layer, index 2 corresponding to the secondary layer and index 3 corresponding to the motor primary layer (see Fig.8). In our experiment, parameters are $N^{(1)}=90$, $\theta^{(1)}=0.5$, $N^{(2)}=100$, $\theta^{(2)}=0.4$ $N^{(3)}=7$, $\theta^{(3)}=0.5$ and $g=8$.

Figure 8: ReST architecture for perception-action systems. The initial primary layer has been split into two perceptual layers : visual primary layer and sensory-motor primary layer. The fusion of visual and motor information is processed by the secondary layer.