The control of a manipulator by a computer model of the cerebellum.Extension of previous work by Albus (1971, 1972) on the theory of cerebellar function to an application of a computer model of the cerebellum to manipulator control. Following a discussion of the cerebellar function and of a perceptron analogy of the cerebellum, particularly in regard to learning, an electromechanical model of the cerebellum is considered in the form of an IBM 1800 computer connected to a Rancho Los Amigos arm with seven degrees of freedom. It is shown that the computer memory makes it possible to train the arm on some representative sample of the universe of possible states and to achieve satisfactory performance.
Document ID
19730052531
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Albus, J. S. (NASA Goddard Space Flight Center Greenbelt, Md., United States)
Date Acquired
August 7, 2013
Publication Date
January 1, 1973
Subject Category
Biotechnology
Meeting Information
Meeting: National Conference on Remotely manned systems: Exploration and operation in space