Accession Number : ADA411774


Title :   Motor Control of a Limb Segment Actuated by Artificial Muscles


Descriptive Note : Conference paper


Corporate Author : OREBRO UNIV (SWEDEN) DEPT OF TECHNOLOGY


Personal Author(s) : Eskiizmirliler, S ; Tondu, B ; Darlot, C


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a411774.pdf


Report Date : 25 Oct 2001


Pagination or Media Count : 5


Abstract : In this article we present a biologically inspired motor control scheme based on sensory-motor interaction modalities within the Central Nervous System, and its application to the control of a single joint limb segment actuated by two pneumatic McKibben muscles. The embedded Artificial Neural Network (ANN) module's architecture, whose functioning is regulated by reinforcement learning, is similar to the connectivity of cerebellar cortex. Various biologically plausible learning schemes, which enable functional plasticity in the cerebellar cortex, are discussed. The simulation and experimental results are then reported. Keywords - Motor control, brain models, artificial neural networks, reinforcement learning, artificial muscles.


Descriptors :   *NEURAL NETS , *MUSCLES , *CENTRAL NERVOUS SYSTEM , *CEREBELLUM , CONTROL , SIMULATION , SYMPOSIA , BRAIN , MODELS , FRANCE , EMBEDDING , PLASTIC PROPERTIES , LEARNING , MOTORS , SWEDEN , EXTREMITIES


Subject Categories : Anatomy and Physiology
      Medicine and Medical Research


Distribution Statement : APPROVED FOR PUBLIC RELEASE