在不完整的指令下控制任务的皮层-小脑神经模型
Lanyun Cui1, Ying Yu1, Qingyun Wang1
1Department of Dynamics and Control, Beihang University, Beijing 100191, China.
概括
这项研究介绍了用于机器人运动控制的层次性皮质大脑小脑神经网络. 该模型通过稀疏的指令实现了高效的控制,模仿生物系统.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算神经科学是一种神经科学.
- 生物灵感的人工智能
背景情况:
- 小脑模型是生物可信的机器人运动的关键.
- 目前的模型通常需要高维输入,与高效的生物系统不同.
- 人类运动学习利用稀疏的反,表明皮质-小脑相互作用.
研究的目的:
- 调查神经机制的运动控制与不完整的指令.
- 开发一个层次化的皮质大脑小脑神经网络模型.
- 探索大脑区域如何协调,以有效地进行运动学习.
主要方法:
- 提出了一个分层的皮层-小脑神经网络.
- 分配的角色:皮质用于动作选择,小脑用于扭矩控制.
- 在平面臂上使用互补指标评估模型性能.
主要成果:
- 该模型减少了对外部指令的依赖,而不会牺牲轨迹的平滑性.
- 皮层探索通过小脑扭矩控制的随机性来增强.
- 通过稀疏的指令信号,证明了强大而灵活的控制.
结论:
- 皮质 - 大脑协调使得在信息限制下能够有效控制运动.
- 表明生物系统处理稀疏反的机制.
- 强调了输入效率高的机器人控制系统的潜力.
相关概念视频
Neural Control of Respiration
4.9K
The neural regulation of respiration is a meticulously coordinated process primarily controlled by the respiratory centers located within the brainstem. These centers, composed of specialized neurons, transmit nerve impulses that control the contraction and relaxation of our respiratory muscles.
Respiratory Centers in the Brainstem
Two primary areas comprise the respiratory center: the medullary respiratory center in the medulla oblongata and the pontine respiratory group in the pons. The...
Respiratory Centers in the Brainstem
Two primary areas comprise the respiratory center: the medullary respiratory center in the medulla oblongata and the pontine respiratory group in the pons. The...
4.9K
Incomplete Dominance
30.0K
Gregor Mendel's work (1822 - 1884) was primarily focused on pea plants. Through his initial experiments, he determined that every gene in a diploid cell has two variants called alleles inherited from each parent. He suggested that amongst these two alleles, one allele is dominant in character and the other recessive. The combination of alleles determines the phenotype of a gene in an organism.
30.0K
Neural Regulation
43.4K
Digestion begins with a cephalic phase that prepares the digestive system to receive food. When our brain processes visual or olfactory information about food, it triggers impulses in the cranial nerves innervating the salivary glands and stomach to prepare for food.
43.4K
Control System Problem
440
In an open-loop system, such as a basic thermostat, the poles of the transfer function influence the system's response but do not determine its stability. However, when feedback is introduced to form a closed-loop system, such as an advanced thermostat that adjusts heating based on room temperature, stability is governed by the new poles of the closed-loop transfer function.
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
440
Neural Circuits
2.8K
Neural circuits and neuronal pools are two of the main structures found in the nervous system. Neural circuits are networks of neurons that work together to carry out a specific task or process. They consist of interconnected neurons and glial cells, which provide structural and metabolic support.
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
2.8K
Combinatorial Gene Control
9.7K
Combinatorial gene control is the synergistic action of several transcriptional factors to regulate the expression of a single gene. The absence of one or more of these factors may lead to a significant difference in the level of gene expression or repression.
The expression of more than 30,000 genes is controlled by approximately 2000-3000 transcription factors. This is possible because a single transcription factor can recognize more than one regulatory sequence. The specificity in gene...
The expression of more than 30,000 genes is controlled by approximately 2000-3000 transcription factors. This is possible because a single transcription factor can recognize more than one regulatory sequence. The specificity in gene...
9.7K


