Controlling a Nonlinear Spring-Mass System with a Cerebellar Model

The highly regular anatomy of the cerebellum and its involvement in motor control have inspired a number of theories relating its structure to function (Marr, 1969; Albus, 1971; Kawato et al., 1987; Houk, 1987). Recent anatomical and physiological studies suggest that the neural circuitry of the cerebellum is organized into small interconnected modules (Ito, 1984; Gibson et al., 1987). These findings have motivated the development of the Adjustable Pattern Generator (APG) theory of the cerebellum (Houk, 1987; Houk & Barto, 1992). In this theory, each module is capable of issuing motor commands which will generate some simple parameterized class of movements. The simple movements that the APGs generate act as components of more complex movements. Thus a collection of APGs working together can command a rich set of motor behaviors.

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