4855584[1] - A Motor Adaptation by Eliciting Sensorimotor...

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A Motor Adaptation by Eliciting Sensorimotor Constraints Paper: An Environment Cognition and Motor Adaptation Model Eliciting Sensorimotor Constraints Based on Time-Series Observations Toshiyuki Kondo and Koji Ito ∗∗ Dept. of Computer and Information Sciences, Tokyo University of Agriculture and Technology 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan E-mail: [email protected] ∗∗ Dept. of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan E-mail: [email protected] [Received January 11, 2007; accepted April 24, 2007] Regardless of complex, diverse, dynamically changing environments, animals recognize situated worlds and respond appropriately through interaction with the environment. We investigated sentient environment cognition and motor adaptation, focusing on “auto- matic movement”. Thanks to periodicity, environment cognition and motor adaptation of body movement to environmental perturbations is modeled relatively eas- ily. We propose an adaptive neural oscillator model inspired by biological brain/nervous system for peri- odic motion control of physical controlled objects such as pendulums. A key concept for realizing environ- ment cognition and motor adaptation is the context- based elicitation of sensorimotor constraints canaliz- ing suitable periodic movement. Results of control tasks demonstrated the feasibility of our proposal. Keywords: environment cognition, dynamical systems, recurrent neural networks, neural oscillator model, swing of a pendulum 1. Introduction Despite a wide variety of environments and high de- grees of freedom (DOF) in our sensorimotor systems, we appropriately constrain our musculoskeletal systems to realize smooth limb movement. We use environment cog- nition and motor adaptation to deal with complex, diverse, dynamically changing environments. Our brain/nervous system has a number of intracerebral loops for environ- ment cognition and motor adaptation ( Fig. 1 ). The central
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This note was uploaded on 03/03/2010 for the course SMT 271554 taught by Professor Unknown during the Spring '08 term at SUNY Empire State.

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4855584[1] - A Motor Adaptation by Eliciting Sensorimotor...

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