A Simple Cerebellar Control Scheme Applying to Robot Coordinated Movement

DOI

10.2991/iccasm.2012.21How to use a DOI?

Keywords

Cerebellum, motor control, simulation

Abstract

The cerebellum has long been thought to play a crucial role in the forming of graceful movements, and it is viewed as a set of modules, each of which can be added to a control system to improve smooth coordinated movement, with improvements continuing and improving over time. The present paper proposes a new feedback error learning scheme for tracing in motor control system. In the scheme, the model of cerebellar cortex is regarded as the feedforward controller. Specifically, a neural network and an estimator are adopted in the cerebellar cortex model which can predict the future state and eliminate faults caused by time delay. The limits of achievable temporal accuracy in feedback-error learning are investigated experimentally and it is shown that motor output can have better temporal resolution than the error signal which is used for adapting the predictive controller. Finally, the algorithm is demonstrated in a simple but demanding simulated robot-control task.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Shaobai Zhang
AU  - Xiefeng Cheng
PY  - 2012/08
DA  - 2012/08
TI  - A Simple Cerebellar Control Scheme Applying to Robot Coordinated Movement
BT  - Proceedings of the 2012 International Conference on Computer Application and System Modeling (ICCASM 2012)
PB  - Atlantis Press
SP  - 83
EP  - 87
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccasm.2012.21
DO  - 10.2991/iccasm.2012.21
ID  - Zhang2012/08
ER  -