Perceptual Structures and Distributed Motor Control

Abstract

The sections in this article are: 1 The Place of Brain Theory Within Cybernetics 2 Concepts from Computer Science and Control Theory 2.1 Programs Need Not Be Stereotypes 2.2 State and Feedback in Control Theory 2.3 Serial Order in Behavior Revisited 3 Visuomotor Coordination in Frog and Toad 3.1 Maps as Control Surfaces 3.1.1 Distributed Processing Model of Superior Colliculus 3.1.2 Cooperative Computation in Somatotopically Organized Networks 3.1.3 Distributed Motor Control 3.2 A Model of Frog Snapping 3.2.1 A Tectal Model of Choice Behavior 3.2.2 Competition and Cooperation in Neural Nets 3.3 The Many Visual Systems 3.3.1 Cooperative Computation of Controllers 3.3.2 Prey-Enemy Pattern Recognition 3.4 Summary 4 Perceptual and Motor Schemas 4.1 Perceptual Schemas and the Action-Perception Cycle 4.1.1 The Internal Model 4.1.2 Affordances 4.1.3 Action-Perception Cycle 4.1.4 Planning 4.1.5 Perception as Potential Action 4.1.6 Coordinative Structures 4.1.7 Schema Assemblage 4.1.8 Eye Movements and Visual Perception 4.2 Optic Flow and Control of Movement 4.2.1 Focus of Expansion 4.2.2 Relative Motion 4.2.3 Inferring Collision Information 4.2.4 Time Until Adjacency 4.3 Motor Schemas 4.3.1 Synergies 4.3.2 System Adaptation 4.3.3 Mutability of Motor Schemas 4.4 Summary 5 Coordinated Control Programs 5.1 Feedforward 5.1.1 Discrete-Activation Feedforward 5.1.2 Coactivation Feedforward 5.1.3 Motor Schemas 5.2 Interwoven Activation of Motor Schemas 5.2.1 A Program for Grasping 5.2.2 Feedforward and the Cerebellum 5.2.3 When is A Program Hard Wired? 5.2.4 Competition and Cooperation of Motor Schemas 5.3 Skill Acquisition 5.4 Summary 6 The Perspective of Artificial Intelligence 6.1 Programs and Planners 6.1.1 Compilers and Interpreters 6.1.2 Planning Techniques in Artificial Intelligence 6.1.3 Diversity of Programs 6.1.4 Mapping the Environment 6.1.5 The Monkey and the Banana 6.1.6 Maps and Topologies 6.1.7 Developing A High-Level Vocabulary 6.2 Program Synthesis and Visuomotor Coordination 6.2.1 An Experiment on Visuomotor Coordination 6.2.2 Program Synthesis and the Available Repertoire 6.2.3 From Set to Topological Space 6.3 Summary 7 conclusion7 Conclusion