| Presentation | 2009-12-11 A Motor Control Model of Degrees of Freedom in Inverted Pendulum Control using Feedback Error Learning Makoto TSUKAMOTO, Naohiro FUKUMURA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | As a motion of human is realized by many joints and muscles, it is necessary to solve a problem of redundant degrees of freedom. A control model using a modular structure was proposed to solve a redundant degree of freedom in the joint level. At the first stage, a module learns the control method in the low degree of freedom and after that, other module learns it in the higher degree of freedom. In this study, we introduce the feedback error learning as the learning method of these modules and performed computer simulations that controls an inverted pendulum attached to the end-point of a two-link manipulator. As a result, it was shown that this model can learn a dexterous control method more efficiently than the case that learns in the higher degrees of freedom from the beginning of learning. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Feedback Error Learning / Inverted Pendulum Control / A Motor Control Model of Degrees of Freedom / Freezing |
| Paper # | NC2009-67 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2009/12/4(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 Motor Control Model of Degrees of Freedom in Inverted Pendulum Control using Feedback Error Learning |
| Sub Title (in English) | |
| Keyword(1) | Feedback Error Learning |
| Keyword(2) | Inverted Pendulum Control |
| Keyword(3) | A Motor Control Model of Degrees of Freedom |
| Keyword(4) | Freezing |
| 1st Author's Name | Makoto TSUKAMOTO |
| 1st Author's Affiliation | Department of Informantion and Computer Sciences, Toyohashi University Of Technology() |
| 2nd Author's Name | Naohiro FUKUMURA |
| 2nd Author's Affiliation | Department of Informantion and Computer Sciences, Toyohashi University Of Technology |
| Date | 2009-12-11 |
| Paper # | NC2009-67 |
| Volume (vol) | vol.109 |
| Number (no) | 333 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |