---
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  on a full analysis of the dynamics of the system, are no longer
  applicable since the joints influence each other dynamics during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.
altloc:
  - http://www.robotic.dlr.de/Smagt/papers/Sma98a.pdf
chapter: ~
commentary: ~
commref: ~
confdates: ~
conference: ~
confloc: ~
contact_email: ~
creators_id: []
creators_name:
  - family: van der Smagt
    given: Patrick
    honourific: ''
    lineage: ''
date: 1998
date_type: published
datestamp: 2001-02-26
department: ~
dir: disk0/00/00/13/22
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name: []
eprint_status: archive
eprintid: 1322
fileinfo: /style/images/fileicons/application_postscript.png;/1322/1/Sma98a.ps.gz|/style/images/fileicons/application_pdf.png;/1322/4/Sma98a.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: |2
          cerebellum, robot dynamics, robot arm control,
          computational cerebellar models, neural networks
lastmod: 2011-03-11 08:54:35
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: ~
pagerange: 301-320
pubdom: FALSE
publication: Connection Science
publisher: ~
refereed: TRUE
referencetext: |
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relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:37:22
subjects:
  - comp-neuro-sci
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: Cerebellar control of robot arms
type: journalp
userid: 462
volume: 10
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