相关论文: $\infty-$Dimensional Cerebellar Controller for Rea…

While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behaviour. Hence, building detailed computational models for the…

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…

Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to…

In exploring the simulation of human rhythmic perception and synchronization capabilities, this study introduces a computational model inspired by the physical and biological processes underlying rhythm processing. Utilizing a reservoir…

In recent years, the interdisciplinary research between information science and neuroscience has been a hotspot. In this paper, based on recent biological findings, we proposed a new model to mimic visual information processing, motor…

The cerebellum is implicated in nearly every domain of human cognition, yet our understanding of how this subcortical structure contributes to cognition remains elusive. Efforts on this front have tended to fall into one of two camps. On…

The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…

The recently developed Life-Space-Foam approach to goal-directed human action deals with individual actor dynamics. This paper applies the model to characterize the dynamics of co-action by two or more actors. This dynamics is modelled by:…

Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for…

We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…

How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…

We exhibit a mathematical framework to represent the neural dynamics at cortical level. Our description of neural dynamics with columnar and functional modularity, named fibre bundle representation (FBM) method, is based both on…

How does our nervous system successfully acquire feedback control strategies in spite of a wide spectrum of response dynamics from different musculo-skeletal systems? The cerebellum is a crucial brain structure in enabling precise motor…

Cerebellum is part of the brain that occupies only 10% of the brain volume, but it contains about 80% of total number of brain neurons. New cerebellar function model is developed that sets cerebellar circuits in context of multibody…

We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a…

This paper presents the scientific body of knowledge behind the Human Biodynamics Engine (HBE), a human motion simulator developed on the concept of Euclidean motion group SE(3), with 270 active degrees of freedom, force-velocity-time…

Anthropomimetic robots are robots that sense, behave, interact and feel like humans. By this definition, anthropomimetic robots require human-like physical hardware and actuation, but also brain-like control and sensing. The most…

Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…

Efforts at understanding the computational processes in the brain have met with limited success, despite their importance and potential uses in building intelligent machines. We propose a simple new model which draws on recent findings in…

We propose a new model of the oculomotor system, particularly the vestibulo-ocular reflex, gaze fixation, and smooth pursuit. Our key insight is to exploit recent developments on adaptive internal models. The outcome is a simple model that…