AB_Schaal_IROS2001 (pdf, 1012 KiB)

Proceedings of the 2001 IEEE/RSJ
International Conference on Intelligent Robots and Systems
Maui, Hawaii, USA, Oct. 29 - Nov. 03, 2001
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Learning System
Cerebellum module
Learning of sequences
of movement
PM module
Decision module
Starts learning and rehearsal
Links visual and motor
Inhibits mvmt during observation
representation of actions
without imitation
Learn new actions
-
Visual System
Attentional module
Motor Control
M1 module
Motor map
Inhibits learning until a change
in one limb position is observed
TC Module
Input: visual data (pixels)
Frame of ref transformation
Extrinsic -> intrinsic
0-7803-6612-3/01/$10.00  2001 IEEE
734
Spinal Cord
Central Pattern Generators
Motor neurons command muscles
Sensory feedback: joint angle
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1
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5
6
7
8
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10
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5
6
7
8
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10
11
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