A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (1975)
| Venue: | (CMAC), TRANS. ASME, SERIES G. JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT AND CONTROL |
| Citations: | 232 - 3 self |
BibTeX
@MISC{Albus75anew,
author = {J. S. Albus},
title = {A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller },
year = {1975}
}
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Abstract
(CMAC) [1, 2] is a neural network that models the structure and function of the part of the brain known as the cerebellum. The cerebellum provides precise coordination of motor control for such body parts as the eyes, arms, fingers, legs, and wings. It stores and retrieves information required to control thousands of muscles in producing coordinated behavior as a function of time. CMAC was designed to provide this kind of motor control for robotic manipulators. CMAC is a kind of memory, or table look-up mechanism, that is capable of learning motor behavior. It exhibits properties such as generalization, learning interference, discrimination, and forgetting that are characteristic of motor learning in biological creatures. In a biological motor system, the drive signal for each
