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

Report Date:

2001-10-25

Pagination or Media Count:

5.0

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 modules 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.

Subject Categories:

  • Anatomy and Physiology
  • Medicine and Medical Research

Distribution Statement:

APPROVED FOR PUBLIC RELEASE