Title :
The cerebellum as computed torque model
Author :
van der Smagt, Patrick ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Mechatronics, German Aerosp. Res. Establ., Wessling, Germany
Abstract :
The authors consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we find that two well-known interpretations of the function of the cerebellum (that of a Smith predictor, or of an inverse model controller) are insufficient to solve the control problem at hand
Keywords :
brain models; delays; robot dynamics; torque control; Smith predictor; cerebellum; complexity; computed torque model; control loop; control problem; delays; inverse model controller; skeletomuscular system dynamics; vertebrate motor control system; Brain modeling; Computational modeling; Control systems; Inverse problems; Joints; Manipulators; Robot control; Robot sensing systems; Service robots; Torque;
Conference_Titel :
Knowledge-Based Intelligent Engineering Systems and Allied Technologies, 2000. Proceedings. Fourth International Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-6400-7
DOI :
10.1109/KES.2000.884157
