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Theses

Référentiels pour l'intégration multi-sensorielle et sensomotrice: une approche neuro-robotique

Christophe Halgand 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This thesis is an interdisciplinary approach in Neuroscience and robotics that investigates the frame of references based on multisensory integration in the sensorimotor loop. Theoretical modeling based on experimental studies in neuroscience have been proposed but are not satisfactory. In a first study we have performed electrophysiological recordings in the primary visual cortex of a behaving monkey and showed that extraretinal signals related to the eye position and to the neck position modulate visual activity of cortical neurons. This result parallels previous data shown in the parietal cortex and strongly suggest a distributed cortical mechanism for construction of space representation. The second study aimed to interpret the modulation, due to eye position relative to the head, of the neuronal activity in the dorsal premotor cortex. For this, humanoid robotics formalisms were used, in particular visual servoing. We used this purely mathematical model to train an artificial neural network in order to show similarities between artificial neural activity and biological neuronal activity. From this work, we propose a discussion in terms of both neuroscience and robotics formalisms, where we present a functional assessment from perception to action. Finally, we propose the existence of a multisensory origin that would benefit the multisensory integration in neuroscience as in robotics.
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Theses
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https://tel.archives-ouvertes.fr/tel-00629217
Contributor : Arlette Evrard <>
Submitted on : Wednesday, October 5, 2011 - 1:47:45 PM
Last modification on : Thursday, June 10, 2021 - 3:05:45 AM
Long-term archiving on: : Friday, January 6, 2012 - 2:26:17 AM

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  • HAL Id : tel-00629217, version 1

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Christophe Halgand. Référentiels pour l'intégration multi-sensorielle et sensomotrice: une approche neuro-robotique. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2011. Français. ⟨tel-00629217⟩

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