An Intrinsic Neuromodulation Model for Realizing Anticipatory Behavior in Reaching Movement under Unexperienced Force Fields

Authors:
Toshiyuki Kondo;Koji Ito
Affiliations:
Department of Computer, Information and Communication Sciences, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan;Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, 4259 Nagatsuta, Midori, Yokohama, 226-8502, Japan
Venue:
Anticipatory Behavior in Adaptive Learning Systems
Year:
2007

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Abstract

Regardless of complex, unknown, and dynamically-changing environments, living creatures can recognize situated environments and behave adaptively in real-time. However, it is impossible to prepare optimal motion trajectories with respect to every possible situations in advance. The key concept for realizing the environment cognition and motor adaptation is a context-based elicitation of constraints which are canalizing well-suited sensorimotor coordination. For this aim, in this study, we propose a polymorphic neural networks model called CTRNN+NM (CTRNN with neuromodulatory bias). The proposed model is applied to two dimensional arm-reaching movement control under various viscous force fields. The parameters of the networks are optimized using genetic algorithms. Simulation results indicate that the proposed model inherits high robustness even though it is situated in unexperienced environments.