| Presentation | 2004/6/18 A hierarchical learning model for basic locomotor patterns Tomoko HIOKI, Jun NISHII, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Most animal locomotor patterns present cyclic movement, which are produced by properly patterned firing of neurons of the CPG (Central Pattern Generator) in the central nervous system. Although a firing pattern of the CPG is genetically determined at some level, learning and coordination of an adequate firing pattern would be necessary to respond to the change of body parameters due to growth and injury. In this study, we propose a motor learning model that a higher center learns an appropriate motor command which works as a supervisory signal for the CPG to learn an appropriate firing pattern. We applied this model to the learning control of one-dimensional hopping robot. As a result, higher center and the CPG learned proper motor commands for the target motions. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Central pattern generator / Learning / Motor control / Hierarchical architecture |
| Paper # | NC2004-36 |
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| Committee | NC |
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| Conference Date | 2004/6/18(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A hierarchical learning model for basic locomotor patterns |
| Sub Title (in English) | |
| Keyword(1) | Central pattern generator |
| Keyword(2) | Learning |
| Keyword(3) | Motor control |
| Keyword(4) | Hierarchical architecture |
| 1st Author's Name | Tomoko HIOKI |
| 1st Author's Affiliation | Faculty of Science, Yamaguchi University() |
| 2nd Author's Name | Jun NISHII |
| 2nd Author's Affiliation | Faculty of Science, Yamaguchi University |
| Date | 2004/6/18 |
| Paper # | NC2004-36 |
| Volume (vol) | vol.104 |
| Number (no) | 140 |
| Page | pp.pp.- |
| #Pages | 6 |
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