Adaptive signal processing
System identification: theory for the user
System identification: theory for the user
Using Humanoid Robots to Study Human Behavior
IEEE Intelligent Systems
Whiskerbot: A Robotic Active Touch System Modeled on the Rat Whisker Sensory System
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
IEEE Transactions on Evolutionary Computation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Digital image stabilization for humanoid eyes inspired by human VOR system
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Structural design and analysis of 3-DOF bionic eye based on spherical ultrasonic motor
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Bioinspired adaptive control for artificial muscles
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
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In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This is analogous to the vestibuloocular reflex (VOR) in humans. The cerebellar model is structurally based on the adaptive filter, and the learning rule is computationally analogous to least-mean squares, where parameter adaptation at the parallel fiber/Purkinje cell synapse is driven by the correlation of the sensory error signal (carried by the climbing fiber) and the motor command signal. Convergence of the algorithm is first analyzed in simulation on a model of the robot and then tested online in both one and two degrees of freedom. The results show that this model of neural function successfully works on a real-world problem, providing empirical evidence for validating: 1) the generic cerebellar learning algorithm; 2) the function of the cerebellum in the VOR; and 3) the signal transmission between functional neural components of the VOR.