Vision-Based Control for Robots by a Fully Spiking Neural System Relying on Cerebellar Predictive Learning
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"Vision-Based Control for Robots by ..." refers background in this paper
...Research studies have shown that patients with cerebellar lesions suffer from clumsy staggering movements [2]....
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"Vision-Based Control for Robots by ..." refers background in this paper
...Izhikevich’s simple model of spiking neurons [21] is adopted for its capability of reproducing various firing patterns while holding a balance between computational cost and biological plausibility [21]....
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...The encoding of variables is based on the central (preferred) value ψc assigned to each neuron, with the contribution of the whole assembly utilizing “population coding” [17])....
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"Vision-Based Control for Robots by ..." refers methods in this paper
...In particular, the cerebellum seems to act as an inverse model to generate corrective motor commands, as a forward model to enhance sensory predictions, and as a combination of both models [4], [5]....
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