Cogprints
Login | Create Account

Cerebellar control of robot arms

van der Smagt, Patrick (1998) Cerebellar control of robot arms. [Journal (Paginated)]

Full text available as:

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
226Kb
[img]Postscript - Requires a viewer, such as GSview
196Kb

Abstract

Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning takes place. Furthermore, there are many theories on what signals the cerebellum operates on, and how it works in concert with other parts of the nervous system. Nevertheless, the application of computational cerebellar models to the control of robot dynamics remains in its infant state. To date, a few applications have been realized, yet limited to the control of traditional robot structures which, strictly speaking, do not require adaptive control for the tasks that are performed since their dynamic structures are relatively simple. The currently emerging family of light-weight robots poses a new challenge to robot control: due to their complex dynamics traditional methods, depending on a full analysis of the dynamics of the system, are no longer applicable since the joints influence each other dynamics during movement. Can artificial cerebellar models compete here? In this overview paper we present a succinct introduction of the cerebellum, and discuss where it could be applied to tackle problems in robotics. Without conclusively answering the above question, an overview of several applications of cerebellar models to robot control is given.

Item Type:Journal (Paginated)
Keywords: cerebellum, robot dynamics, robot arm control, computational cerebellar models, neural networks
Subjects:Neuroscience > Computational Neuroscience
ID Code:1322
Deposited By:van der Smagt, Patrick
Deposited On:26 Feb 2001
Last Modified:12 Sep 2007 17:37

References in Article

Select the SEEK icon to attempt to find the referenced article. If it does not appear to be in cogprints you will be forwarded to the paracite service. Poorly formated references will probably not work.

\bibitem[\protect\BCAY{Aguilar \BBA{} Contreras-Vidal}{Aguilar \BBA{}

Contreras-Vidal}{1994}]{AguCon:94}

Aguilar, J.~M.\BCBT{} \BBA{} Contreras-Vidal, J.~L.

\newblock{}\BBOP{}1994\BBCP{}.

\newblock{}\BBOQ{}{NAVITE}: A neural network system for sensory-based robot

navigation.\BBCQ{}

\newblock{}In \Bem{Proceedings of the World Congress on Neural Networks}\

(\BVOL~II, \BPGS\ 177--182).

\newblock{}Lawrence Erlbaum, Hillsdale, New Jersey.

\bibitem[\protect\BCAY{Aiba \BOthers{}}{Aiba \BOthers{}}{1994}]{Aib94}

Aiba, A., Kano, M., Chen, C., Stanton, M., Fox, G., Herrup, K., Zwingman,

T.\BCBL{} \BBA{} Tonegawa, S.

\newblock{}\BBOP{}1994\BBCP{}.

\newblock{}\BBOQ{}Deficient cerebellar long-term depression and impaired motor

learning in {mGluR1} mutant mice.\BBCQ{}

\newblock{}\Bem{Cell}, \Bem{79}, 377--388.

\bibitem[\protect\BCAY{Albus}{Albus}{1971}]{Alb71}

Albus, J.

\newblock{}\BBOP{}1971\BBCP{}.

\newblock{}\BBOQ{}A theory of cerebellar function.\BBCQ{}

\newblock{}\Bem{Mathematical Bioscience}, \Bem{10}, 25--61.

\bibitem[\protect\BCAY{Albus}{Albus}{1975}]{Alb75}

Albus, J.

\newblock{}\BBOP{}1975\BBCP{}.

\newblock{}\BBOQ{}A new approach to manipulator control: The cerebellar model

articulation controller ({CMAC}).\BBCQ{}

\newblock{}\Bem{Journal of Dynamic Systems, Measurement and Control,

Transactions of the {ASME}, series G}, \Bem{97}, 270--277.

\bibitem[\protect\BCAY{Artola \BBA{} Singer}{Artola \BBA{}

Singer}{1993}]{ArtSin93}

Artola, A.\BCBT{} \BBA{} Singer, W.

\newblock{}\BBOP{}1993\BBCP{}.

\newblock{}\BBOQ{}Long-term depression of excitatory synaptic transmission and

its relationship to long-term potentiation.\BBCQ{}

\newblock{}\Bem{Trends in Neuroscience}, \Bem{16}, 480--487.

\bibitem[\protect\BCAY{Atkeson \BBA{} Hollerbach}{Atkeson \BBA{}

Hollerbach}{1985}]{AtkHol85}

Atkeson, C.\BCBT{} \BBA{} Hollerbach, J.

\newblock{}\BBOP{}1985\BBCP{}.

\newblock{}\BBOQ{}Kinematic features of unrestrained vertical arm

movements.\BBCQ{}

\newblock{}\Bem{Journal of Neuroscience}, \Bem{5}, 2318--2330.

\bibitem[\protect\BCAY{Barto, Buckingham\BCBL{} \BBA{} Houk}{Barto

\BOthers{}}{1995}]{BarBucHou95}

Barto, A.~G., Buckingham, J.~T.\BCBL{} \BBA{} Houk, J.~C.

\newblock{}\BBOP{}1995\BBCP{}.

\newblock{}\BBOQ{}A predictive switching model of cerebellar movement

control.\BBCQ{}

\newblock{}In D.~S. Touretzky, M.~C. Mozer\BCBL{} \BBA{} M.~E. Hasselmo\

(\BEDS), \Bem{Advances in Neural Information Processing Systems 8}\ (\BPGS\

138--144).

\newblock{}Boston, MA: MIT Press.

\bibitem[\protect\BCAY{Bell}{Bell}{1811}]{Bell1811}

Bell, C.

\newblock{}\BBOP{}1811\BBCP{}.

\newblock{}\Bem{Idea of a New Anatomy of the Brain; Submitted for the

Observations of His Friends.}

\newblock{}London: Strahan and Preston.

\bibitem[\protect\BCAY{Berthier, Singh, Barto\BCBL{} \BBA{} Houk}{Berthier

\BOthers{}}{1993}]{BerSinBarHou93}

Berthier, N.~E., Singh, S.~P., Barto, A.~G.\BCBL{} \BBA{} Houk, J.~C.

\newblock{}\BBOP{}1993\BBCP{}.

\newblock{}\BBOQ{}Distributed representation of limb motor programs in arrays

of adjustable pattern generators.\BBCQ{}

\newblock{}\Bem{Journal of Cognitive Neuroscience}, \Bem{5}, 56--78.

\bibitem[\protect\BCAY{Bliss \BBA{} Collingridge}{Bliss \BBA{}

Collingridge}{1993}]{BliCol93}

Bliss, T. V.~P.\BCBT{} \BBA{} Collingridge, G.

\newblock{}\BBOP{}1993\BBCP{}.

\newblock{}\BBOQ{}A synaptic model of memory: Long-term potentiation in the

hippocampus.\BBCQ{}

\newblock{}\Bem{Nature}, \Bem{361}, 31--39.

\bibitem[\protect\BCAY{Braake, Can\BCBL{} \BBA{} Verbruggen}{Braake

\BOthers{}}{1998}]{BraCanVer97}

Braake, H. A.~B. te, Can, E. J.~L. van\BCBL{} \BBA{} Verbruggen, H.~B.

\newblock{}\BBOP{}1998\BBCP{}.

\newblock{}\BBOQ{}Training of neural networks by a variable projection

method.\BBCQ{}

\newblock{}\Bem{Neural Networks}.

\newblock{}(In print.)

\bibitem[\protect\BCAY{Braitenberg}{Braitenberg}{1961}]{Bra61}

Braitenberg, V.

\newblock{}\BBOP{}1961\BBCP{}.

\newblock{}\BBOQ{}Functional interpretation of cerebellar histology.\BBCQ{}

\newblock{}\Bem{Nature}, \Bem{190}, 539--540.

\bibitem[\protect\BCAY{Braitenberg \BBA{} Atwood}{Braitenberg \BBA{}

Atwood}{1958}]{BraAtw58}

Braitenberg, V.\BCBT{} \BBA{} Atwood, R.~P.

\newblock{}\BBOP{}1958\BBCP{}.

\newblock{}\BBOQ{}Morphological observations on the cerebellar cortex.\BBCQ{}

\newblock{}\Bem{Journal of Comparative Neurology}, \Bem{109}, 1--34.

\bibitem[\protect\BCAY{Bullock}{Bullock}{1997}]{CCCCBul97}

Bullock, D.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\Bem{Cerebellar learning for context sensitive and critically timed

coordination of multiple action channels.}

\newblock{}(In van der Smagt \& Bullock, pp.\ 11--12, NIPS*97)

\bibitem[\protect\BCAY{Bullock \BBA{} Grossberg}{Bullock \BBA{}

Grossberg}{1988\protect\BCnt{1}}]{BulGro88}

Bullock, D.\BCBT{} \BBA{} Grossberg, S.

\newblock{}\BBOP{}1988\protect\BCnt{1}\BBCP{}.

\newblock{}\BBOQ{}Neural dynamics of planned arm movements: Emergent invariants

and speed-accuracy properties during trajectory formation.\BBCQ{}

\newblock{}\Bem{Psychological Review}, \Bem{95}, 49--90.

\bibitem[\protect\BCAY{Bullock \BBA{} Grossberg}{Bullock \BBA{}

Grossberg}{1988\protect\BCnt{2}}]{BulGro88b}

Bullock, D.\BCBT{} \BBA{} Grossberg, S.

\newblock{}\BBOP{}1988\protect\BCnt{2}\BBCP{}.

\newblock{}\BBOQ{}Neuromuscular realization of planned trajectories.\BBCQ{}

\newblock{}\Bem{Neural Networks}, \Bem{1}(Suppl.~1), 329.

\bibitem[\protect\BCAY{Bullock \BBA{} Grossberg}{Bullock \BBA{}

Grossberg}{1989}]{BulGro89}

Bullock, D.\BCBT{} \BBA{} Grossberg, S.

\newblock{}\BBOP{}1989\BBCP{}.

\newblock{}\BBOQ{}{VITE} and {FLETE}: Neural modules for trajectory formation

and tension control.\BBCQ{}

\newblock{}In W.~Hershberger\ (\BED), \Bem{Volitional Action}\ (\BPGS\

253--297).

\newblock{}Amsterdam: North-Holland.

\bibitem[\protect\BCAY{Bullock, Grossberg\BCBL{} \BBA{} Mannes}{Bullock

\BOthers{}}{1993}]{BulGroMan:93}

Bullock, D., Grossberg, S.\BCBL{} \BBA{} Mannes, C.

\newblock{}\BBOP{}1993\BBCP{}.

\newblock{}\BBOQ{}A neural network model for cursive script production.\BBCQ{}

\newblock{}\Bem{Biological Cybernetics}, \Bem{70}, 15--28.

\bibitem[\protect\BCAY{Buonomano \BBA{} Mauk}{Buonomano \BBA{}

Mauk}{1994}]{BuoMau94}

Buonomano, D.~V.\BCBT{} \BBA{} Mauk, M.~D.

\newblock{}\BBOP{}1994\BBCP{}.

\newblock{}\BBOQ{}Neural network model of the cerebellum: Temporal

discrimination and the timing of motor responses.\BBCQ{}

\newblock{}\Bem{Neural Computation}, \Bem{6}, 38--55.

\bibitem[\protect\BCAY{Chou \BBA{} Hannaford}{Chou \BBA{}

Hannaford}{1996}]{ChoHan96}

Chou, C.-P.\BCBT{} \BBA{} Hannaford, B.

\newblock{}\BBOP{}1996\BBCP{}.

\newblock{}\BBOQ{}Measurement and modeling of {McKibben} pneumatic artificial

muscles.\BBCQ{}

\newblock{}\Bem{IEEE Transactions on Robotics and Automation}, \Bem{12}(1),

90--102.

\bibitem[\protect\BCAY{Contreras-Vidal, Grossberg\BCBL{} \BBA{}

Bullock}{Contreras-Vidal \BOthers{}}{1997}]{ConGroBul97}

Contreras-Vidal, J., Grossberg, S.\BCBL{} \BBA{} Bullock, D.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\BBOQ{}A neural model of cerebellar learning for arm movement

control: Cortico-spino-cerebellar dynamics.\BBCQ{}

\newblock{}\Bem{Learning and Memory}, \Bem{3}, 475--502.

\bibitem[\protect\BCAY{Contreras-Vidal \BBA{} Lopez-Coronado}{Contreras-Vidal

\BBA{} Lopez-Coronado}{1997}]{CCCCConLop97}

Contreras-Vidal, J.\BCBT{} \BBA{} Lopez-Coronado, J.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\Bem{Adaptive Cerebellar Control of Opponent Muscles.}

\newblock{}(In van der Smagt \& Bullock, pp.\ 13--16, NIPS*97)

\bibitem[\protect\BCAY{{De Schutter}}{{De Schutter}}{1996}]{DeS96}

{De Schutter}, E.

\newblock{}\BBOP{}1996\BBCP{}.

\newblock{}\BBOQ{}One cannot build theories of cerebellar function on shaky

foundations: Induction properties of long-term depression have to be taken

into account.\BBCQ{}

\newblock{}\Bem{Behavioral and Brain Sciences}, \Bem{19}, 440--441.

\bibitem[\protect\BCAY{{De Schutter}}{{De Schutter}}{1997}]{DeS97}

{De Schutter}, E.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\BBOQ{}A new functional role for cerebellar long term

depression.\BBCQ{}

\newblock{}\Bem{Progress in Brain Research}, \Bem{114}, 529--542.

\bibitem[\protect\BCAY{DeMers \BBA{} Kreutz-Delgado}{DeMers \BBA{}

Kreutz-Delgado}{1997}]{DeMKre97}

DeMers, D.\BCBT{} \BBA{} Kreutz-Delgado, K.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\BBOQ{}Inverse kinematics of dextrous manipulators.\BBCQ{}

\newblock{}In O.~Omidvar \BBA{} P.~van~der Smagt\ (\BEDS), \Bem{Neural Systems

for Robotics}\ (\BPGS\ 75--116).

\newblock{}Boston, Massachusetts: Academic Press.

\bibitem[\protect\BCAY{Eccles, Ito\BCBL{} \BBA{} Szentagothai}{Eccles

\BOthers{}}{1967}]{EccItoSze67}

Eccles, J.~C., Ito, M.\BCBL{} \BBA{} Szentagothai, J.

\newblock{}\BBOP{}1967\BBCP{}.

\newblock{}\Bem{The Cerebellum as a Neuronal Machine.}

\newblock{}Berlin: Springer-Verlag.

\bibitem[\protect\BCAY{Fagg, Zelevinsky, Barto\BCBL{} \BBA{} Houk}{Fagg

\BOthers{}}{1997}]{CCCCFagZelBarHou97}

Fagg, A., Zelevinsky, L., Barto, A.\BCBL{} \BBA{} Houk, J.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\Bem{Using Crude Corrective Movements to Learn Accurate Motor

Programs for Reaching.}

\newblock{}(In van der Smagt \& Bullock, pp.\ 20--24, NIPS*97)

\bibitem[\protect\BCAY{Fagg, Sitkoff, Houk\BCBL{} \BBA{} Barto}{Fagg

\BOthers{}}{1997}]{FagSitHouBar97}

Fagg, A.~H., Sitkoff, N., Houk, J.~C.\BCBL{} \BBA{} Barto, A.~G.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\BBOQ{}Cerebellar learning for control of a two-link arm in muscle

space.\BBCQ{}

\newblock{}In \Bem{Proceedings of the IEEE Conference on Robotics and

Automation}\ (\BPGS\ 2638--2644).

\newblock{}

\bibitem[\protect\BCAY{Flourens}{Flourens}{1824}]{Flou1824}

Flourens, P.

\newblock{}\BBOP{}1824\BBCP{}.

\newblock{}\Bem{Recherches exp{\'e}rimentales sur les propri{\'e}t{\'e}s et les

fonctions du syst{\`e}me nerveux, dans les animaux vert{\'e}bres.}

\newblock{}Paris: Cervot.

\bibitem[\protect\BCAY{Franklin}{Franklin}{1774}]{Fra1774}

Franklin, B.

\newblock{}\BBOP{}1774\BBCP{}.

\newblock{}\Bem{Experiments and Observations on Electricity.}

\newblock{}London.

\bibitem[\protect\BCAY{Gaudiano \BBA{} Grossberg}{Gaudiano \BBA{}

Grossberg}{1991}]{GauGro91}

Gaudiano, P.\BCBT{} \BBA{} Grossberg, S.

\newblock{}\BBOP{}1991\BBCP{}.

\newblock{}\BBOQ{}Vector associative maps: Unsupervised real-time error-based

learning and control of movement trajectories.\BBCQ{}

\newblock{}\Bem{Neural Networks}, \Bem{4}(2), 147--183.

\bibitem[\protect\BCAY{Gaudiano, Guenther\BCBL{} \BBA{} Zalama}{Gaudiano

\BOthers{}}{1997}]{GauGueZal97}

Gaudiano, P., Guenther, F.~H.\BCBL{} \BBA{} Zalama, E.

\newblock{}\BBOP{}1997\BBCP{}.

\newblock{}\BBOQ{}The neural dynamics approach to sensory-motor control.\BBCQ{}

\newblock{}In O.~Omidvar \BBA{} P.~van~der Smagt\ (\BEDS), \Bem{Neural Systems

for Robotics}\ (\BPGS\ 153--194).

\newblock{}Boston, Massachusetts: Academic Press.

\bibitem[\protect\BCAY{Glickstein}{Glickstein}{1994}]{Gli94}

Glickstein, M.

\newblock{}\BBOP{}1994\BBCP{}.

\newblock{}\BBOQ{}Cerebellar agenesis.\BBCQ{}

\newblock{}\Bem{Brain}, \Bem{117}, 1209--1212.

\bibitem[\protect\BCAY{Hirzinger}{Hirzinger}{1996}]{Hir96}

Hirzinger, G.

\newblock{}\BBOP{}1996\BBCP{}.

\newblock{}\BBOQ{}Towards a new robot generation for space, terrestrial, and

medical applications.\BBCQ{}

\newblock{}In \Bem{Proc.~Second ECPD Int.~Conference on Advanced Robotics,

Intelligent Automation, and Active Systems.}

\newblock{}

\bibitem[\protect\BCAY{Hofsten}{Hofsten}{1979}]{Hof79}