Learning of body sense and body image for mobile robot with visual sensors

We propose self-maintenance robot system as a method which realizes work for a long time without maintenance by the human workers. This system absorbs the change which occurs in robot´s hardware by learning, and maintains working ability. We use a neural network which has a task common layer and a task independence layer to learning. In this report, we verify of this learning system by the computer simulation and the experiment in the real field