A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot
文献类型：期刊论文
| 作者 | Zhang, Jinhan1,2; Chen, Jiahao2 ; Wu, Wei2; Qiao, Hong1,2
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| 刊名 | IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
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| 出版日期 | 2023-09-01 |
| 卷号 | 15期号:3页码:1209-1223 |
| ISSN号 | 2379-8920 |
| 关键词 | Biologically inspired control cerebellum-inspired model motion generation motion learning musculoskeletal robot reinforcement learning |
| DOI | 10.1109/TCDS.2022.3200839 |
| 通讯作者 | Qiao, Hong(hong.qiao@ia.ac.cn) |
| 英文摘要 | It is an important issue that how to regulate the existing control models of musculoskeletal robots to improve the ability of motion learning and generalization. In this article, based on the motion modulation function of the cerebellum, a cerebellum-inspired prediction and correction model is proposed to carry out feedforward regulation of the original controller. First, drawing on the reservoir computing mechanism of the cerebellar granular layer, the cerebellum prediction model is established by using the echo state network. Incremental learning for the network is achieved using the replay method, which is able to process control signals with different distributions. The cerebellum prediction network can accurately predict the motion results of the robot under the action of the time-series control signals. Second, referring to the neural pathways of the cerebellum, the cerebellum correction model is constructed. The network learning rules are designed by drawing on the long-term potentiation and depression processes of cerebellar synaptic plasticity. The characteristics of the parameters in the network weight update equations are further analyzed. And the hyperparameter update rules of the correction network weights are proposed. To simulate the function of the cerebellum involved in the limb ballistic movement, the adaptive adjustment method for cerebellum correction duration is proposed. The cerebellum correction network can accurately modulate the original control signals by using the motion prediction results. In experiments, a musculoskeletal robot is used to verify the movement effects under the control of the cerebellum model. The results show that the cerebellum-inspired model can effectively improve the motion accuracy and learning efficiency of the musculoskeletal robot, and enhance the motion generalization ability and system robustness of the robot. |
| WOS关键词 | LONG-TERM DEPRESSION ; DYNAMIC SIMULATIONS ; NEURAL-NETWORK ; MECHANISMS ; MOVEMENT ; TRANSMISSION ; POTENTIATION ; ALGORITHMS ; LTP ; ARM |
| 资助项目 | National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] |
| WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001089186500019 |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54283]  |
| 专题 | 多模态人工智能系统全国重点实验室 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Qiao, Hong |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Jinhan,Chen, Jiahao,Wu, Wei,et al. A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2023,15(3):1209-1223. |
| APA | Zhang, Jinhan,Chen, Jiahao,Wu, Wei,&Qiao, Hong.(2023).A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,15(3),1209-1223. |
| MLA | Zhang, Jinhan,et al."A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 15.3(2023):1209-1223. |
入库方式： OAI收割
来源：自动化研究所
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