Locomotion and gymnastic training of a 4-link uniped with coordinated computational intelligence (CCI)

A taxonomy for coordinated computational intelligence (CCT) is introduced for fuzzy-neural control. Based on the CCI taxonomy a multiagent cerebellar model MAC-J, is extended from 3-link uniped locomotion training to 4-link uniped locomotion training and from usual uniped locomotion training to robot gymnastic training. Basic ideas are illustrated with usual examples and gymnastic examples. Implications of this work to human and animal locomotion control and its potential applications are discussed.