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Searching a Scalable Approach to Cerebellar Based Control

Jan Peters; Patrick van der Smagt
In: Applied Intelligence (APIN), Vol. 17, No. 1, Pages 11-33, Springer, 2002.


Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning might take place. Furthermore, there are many theories on what signals the cerebellum operates on, and how it works in concert with other parts of the nervous system. Nevertheless, the application of computational cerebellar models to the control of robot dynamics remains in its infant state. To date, few applications have been realized.

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