Abstract
Coordination of synergistic movements is a crucial aspect of goal oriented motor behavior in postural control. It has been proposed that the cerebellum could be involved in the acquisition of adaptive fine-tuned motor responses. However, it remains unclear whether motor patterns and action sequences can be learned as a result of recurrent connections among multiple cerebellar microcircuits. Within this study we hypothesize that such link could be found in the Nucleo-Pontine projection and we investigate the behavioral advantages of cerebellar driven synergistic motor responses in a robotic postural task. We devise a scenario where a double-joint cart-pole robot has to learn to stand and balance interconnected segments by issuing multiple actions in order to minimize the deviation from a state of equilibrium. Our results show that a cerebellum based architecture can efficiently learn to reduce errors through well-timed motor coordination. We also suggest that such strategy could reduce energy cost by progressively synchronizing multiple joints movements.
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Maffei, G., Sanchez-Fibla, M., Herreros, I., Verschure, P.F.M.J. (2014). Acquisition of Synergistic Motor Responses through Cerebellar Learning in a Robotic Postural Task. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_18
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DOI: https://doi.org/10.1007/978-3-319-09435-9_18
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