人間の運動制御系における新小脳機能のモデル化とロボットの適応制御方式への応用

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  • Modeling for Neocerebella Functioning in Human Motor Control Systems and Its Application to Invest Robot with Self-Adaptable Control Capabilities
  • ニンゲン ノ ウンドウ セイギョケイ ニ オケル シン ショウノウ キノウ ノ

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This paper is concerned with theoretical analysis on the mathematical modeling of cerebellar functioning in human motor control system. Discrete type equations of the motion of two joints arm system were derived, and a new algorithm was formulated, for estimating the motor control system dynamics. The motor command was self-adaptively generated according and algorithm.<br>The learning processes of our cerebellar functioning model via practices were experimented through the simulated computer analysis. Then, it was verified that the pursuit pattern of the two joints arm system, by our modeling and algorithm, to the desired movement was steadly improved as the learning stages advanced. Furthermore, it was also verified that our modeling and algorithm responded optimally to the unexpected environmental disturbances.

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