Robotics as a Tool for Neuroscience: Cerebellar Internal Models for Robotics and Cognition

Abstract

Internal models in the brain are neural networks which mimic behaviors of motor apparatus and external environments for sensory motor control. Quite recently, neurophysiological data obtained from monkey cerebellum during simple eye movements provided rich supports to this computational idea. Different types of robot learning have been developed based on internal models. Especially, learning by mimicking for a dexterous arm robot and a humanoid robot (DB, Fig. 1) will be demonstrated [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14].