Biological Cybernetics

, Volume 29, Issue 1, pp 29–36 | Cite as

A model for sensorimotor control and learning

  • M. H. Raibert
Article
Received:

Abstract

A model for motor learning, generalization, and adaptation is presented. It is shown that the equations of motion of a limb can be expressed in a parametric form that facilitates transformation of desired trajectories into plans. These parametric equations are used in conjunction with a quantized multidimensional memory organized by state variables. The memory is supplied with data derived from the analysis of practice movements. A small computer and mechanical arm are used to implement the model and study its properties. Results verify the ability to acquire new movements, adapt to mechanical loads, and generalize between similar movements.

Keywords

Mechanical Load Motor Learning Parametric Form Parametric Equation Small Computer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag 1978

Authors and Affiliations

  • M. H. Raibert
    • 1
  1. 1.Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaUSA

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