Toward an Integrated Visuomotor Representation of the Peripersonal Space

Abstract. The purpose of this work is the creation of a description of objects in the peripersonal space of a subject that includes two kinds of concepts, related to on-line, action-related features and memorized, conceptual ones, respectively. The inspiration of such description comes from the distinction between sensorimotor and perceptual visual processing as performed by the two visual pathways of the primate cortex. A model of such distinction, and of a further subdivision of the dorsal stream, is advanced with the purpose of applying it to a robotic setup. The model constitutes the computational basis for a robotic system able to achieve advanced skills in the interaction with its peripersonal space