A Cerebellar Control Model and Simulation of Biomimetic Manipulator

RUAN Xiao-gang; ZHANG Shao-bai; LI Xin-yuan

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A Cerebellar Control Model and Simulation of Biomimetic Manipulator

更新时间：2025-07-16

- A Cerebellar Control Model and Simulation of Biomimetic Manipulator
- Acta Electronica Sinica Vol. 35, Issue 5, Pages: 991-995(2007)
- 作者机构：
  
  1. 北京工业大学电子信息与控制工程学院,北京,100022
  2. 济南大学信息科学与工程学院,山东,济南,250022
  3. 北京工业大学电子信息与控制工程学院北京,100022
  4. 济南大学信息科学与工程学院山东济南,250022
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP18
- Published：2007
- 稿件说明：
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RUAN Xiao-gang, ZHANG Shao-bai, LI Xin-yuan. A Cerebellar Control Model and Simulation of Biomimetic Manipulator[J]. Acta Electronica Sinica, 2007, 35(5): 991-995.
DOI：

RUAN Xiao-gang, ZHANG Shao-bai, LI Xin-yuan. A Cerebellar Control Model and Simulation of Biomimetic Manipulator[J]. Acta Electronica Sinica, 2007, 35(5): 991-995. DOI：

摘要

提出了一种控制模拟仿生机械臂延伸运动的小脑学习模型.该模型在已知小脑结构的基础上

利用脊髓反射线路的伺服机制

将神经网络嵌入模拟哺乳动物运动的控制系统中

用以控制一个６肌肉块２关节的平面手臂

真正从生物学意义上实现了由Katayama和Kawato提出的并行分层控制的有关论述

并且证明能够迅速地学会精确轨迹控制.仿真结果表明

该小脑模型能够很好地学习不能由PDF＋F控制器所提供动态逆模型的相关内容

且具有较好的理想轨迹跟踪性能.

Abstract

This paper presents a learning cerebellar model to control reaching movements of a simulated biomimetic manipulator.Utilizing the servo mechanism of the spinal reflex circuitry

the model embeds a neural network based on known cerebellar circuitry in a simulation of the mammalian motor control system to control a 6-muscle 2-link planar arm.The system had implemented a biologically version of the parallel hierarchical control model proposed by Katayama and Kawato and was proved to be able to learn accurate trajectory control.The simulation results demonstrate that this cerebellar model was able to learn parts of the inverse dynamics model not provided by the PDF＋F controller

and having nicer tracing performance of desired trajectory.

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