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Hierarchical neural network model for voluntary movement with application to robotics

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4 Author(s)
Kawato, M. ; Dept. of Biophys. Eng., Osaka Univ., Japan ; Uno, Y. ; Isobe, M. ; Suzuki, R.

In order to control voluntary movements, the central nervous system must solve the following three computational problems at different levels: determination of a desired trajectory in the visual coordinates; transformation of the trajectory from visual coordinates to body coordinates; and generation of motor commands. Based on physiological information and previous models, computational theories are proposed for the first two problems, and a hierarchical neural network model is introduced to deal with motor commands. The application of this approach to robotics is outlined.<>

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Control Systems Magazine, IEEE  (Volume:8 ,  Issue: 2 )