A Cerebellum-Inspired Learning Approach for Adaptive and Anticipatory Control
| Autor: | Cecilia Laschi, Silvia Tolu, Egidio Falotico, Lorenzo Vannucci, Marie Claire Capolei, Mauricio Vanegas Hernández |
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| Rok vydání: | 2019 |
| Předmět: |
Cerebellum
Computer Networks and Communications Adaptive learning 02 engineering and technology Motor Activity Models Biological Anticipatory control Compensation (engineering) Bioinspired 03 medical and health sciences recurrent 0302 clinical medicine Motor control motor control 0202 electrical engineering electronic engineering information engineering medicine Humans Learning bio-inspired adaptive learning cerebellum Internal forward model Smith predictor General Medicine Anticipation Psychological Adaptation Physiological medicine.anatomical_structure 020201 artificial intelligence & image processing Recurrent Psychology Neuroscience 030217 neurology & neurosurgery |
| Zdroj: | Tolu, S, Capolei, M C, Vannucci, L, Laschi, C, Falotico, E & Hernandez, M V 2020, ' A Cerebellum-Inspired Learning Approach for Adaptive and Anticipatory Control ', International Journal of Neural Systems, vol. 30, no. 1, 1950028 . https://doi.org/10.1142/S012906571950028X International Journal of Neural Systems |
| ISSN: | 1793-6462 0129-0657 |
| Popis: | The cerebellum, which is responsible for motor control and learning, has been suggested to act as a Smith predictor for compensation of time-delays by means of internal forward models. However, insights about how forward model predictions are integrated in the Smith predictor have not yet been unveiled. To fill this gap, a novel bio-inspired modular control architecture that merges a recurrent cerebellar-like loop for adaptive control and a Smith predictor controller is proposed. The goal is to provide accurate anticipatory corrections to the generation of the motor commands in spite of sensory delays and to validate the robustness of the proposed control method to input and physical dynamic changes. The outcome of the proposed architecture with other two control schemes that do not include the Smith control strategy or the cerebellar-like corrections are compared. The results obtained on four sets of experiments confirm that the cerebellum-like circuit provides more effective corrections when only the Smith strategy is adopted and that minor tuning in the parameters, fast adaptation and reproducible configuration are enabled. |
| Databáze: | OpenAIRE |
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