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Paper Abstract and Keywords
Presentation 2008-03-12 11:10
Adaptive Motor Control Inspired by Cerebellar VOR Motor Learning
Hiroaki Yagi, Yoshiyuki Tanaka, Yutaka Hirata (Chubu Univ.) NC2007-133
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we have configured a cerebellar neuronal network model to be used for real time adaptive motor control.
The model receives desired trajectories as input, and generates motor commands as output to move the controlled object.
The motor output (actual trajectory) is fed-back to the model to calculate the motor error (actual - desired trajectory) which is used for modifying the synaptic weights in the cerebellar neuronal circuitry.
We have employed this model as a controller for a DC motor, and evaluated its performance in real time trajectory control of the DC motor.
It was demonstrated that the proposed cerebellar controller rapidly improves the performance of the motor when the desired trajectories are a single sinusoid,or band-limited gray noise.
It was also demonstrated that the controller can compensate for sudden changes in the weight of motor load and keep accurately tracking the desired trajectory, while a conventional PID controller lost its control in response to the same change in motor load.
Keyword (in Japanese) (See Japanese page) 
(in English) Cerebellar Motor Learning / Adaptive Motor Control / Vestibuloocular Reflex / / / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 542, NC2007-133, pp. 127-132, March 2008.
Paper # NC2007-133 
Date of Issue 2008-03-05 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2007-133

Conference Information
Committee NC MBE  
Conference Date 2008-03-12 - 2008-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2008-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Adaptive Motor Control Inspired by Cerebellar VOR Motor Learning 
Sub Title (in English)  
Keyword(1) Cerebellar Motor Learning  
Keyword(2) Adaptive Motor Control  
Keyword(3) Vestibuloocular Reflex  
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1st Author's Name Hiroaki Yagi  
1st Author's Affiliation Chubu University (Chubu Univ.)
2nd Author's Name Yoshiyuki Tanaka  
2nd Author's Affiliation Chubu University (Chubu Univ.)
3rd Author's Name Yutaka Hirata  
3rd Author's Affiliation Chubu University (Chubu Univ.)
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Speaker Author-1 
Date Time 2008-03-12 11:10:00 
Presentation Time 20 minutes 
Registration for NC 
Paper # NC2007-133 
Volume (vol) vol.107 
Number (no) no.542 
Page pp.127-132 
#Pages 6 
Date of Issue 2008-03-05 (NC) 

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