An Adaptive Modular Recurrent Cerebellum-Inspired Controller

Kiyan Maheri, Martin Pearson, Alexander Lenz

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

Animals and robots face the common challenge of interacting with an unstructured environment. While animals excel and thrive in such environments, modern robotics struggles to effectively execute simple tasks. To help improve performance in the face of frequent changes in the mapping between action and outcome (change in context) we propose the Modular-RDC controller, a bio-inspired controller based on the Recurrent Decorrelation Control (RDC) architecture. The proposed controller consists of multiple modules, each containing a forward and inverse model pair. The combined output of all inverse models is used to control the plant, with the contribution of each inverse model determined by a responsibility factor. The controller is able to correctly identify the best module for the current context, enabling a significant reduction of 70.9% in control error for a context-switching plant. It is also shown that the controller results in a degree of generalization in control.
Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems
Subtitle of host publicationLiving Machines 2017
PublisherSpringer Berlin Heidelberg
Pages267-278
Number of pages12
Volume10384
ISBN (Electronic)978-3-319-63537-8
ISBN (Print)978-3-319-63536-1
DOIs
Publication statusE-pub ahead of print - 16 Jul 2017

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