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Data Storage in the Cerebellar Model Articulation Controller (CMAC)
Abstract
The storage of manipulator control functions in the CM AC memory is accomplished by an iterative process which, if the control function is sufficiently smooth, will converge. There are several different techniques for loading the CM AC memory depending on the amount of data which has already been stored and the degree of accuracy which is desired. The CM AC system lends itself to a “natural” partitioning of the control problem into manageable subproblems. At each level the CM AC controller translates commands from the next higher level into sequences of instructions to the next lower level. Data storage, or training, is accomplished first at the lowest level and must be completed, or nearly so, at each level before it can be initiated at the next higher level.
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Citations
Cited by
Hollerbach, J. M. (1980) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1980.4308393 · Cited by 874
Outline for a theory of intelligence
Albus, J. S. (1991) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.97471 · Cited by 722
Self-citationLEARNING ARM KINEMATICS AND DYNAMICS
Atkeson, C. G. (1989) · Annual Review of Neuroscience · doi:10.1146/annurev.ne.12.030189.001105 · Cited by 265
Cerebellar learning of accurate predictive control for fast-reaching movements
Spoelstra, J., Schweighofer, N., & Arbib, M. A. (2000) · Biological Cybernetics · doi:10.1007/s004220050586 · Cited by 72
Metadata
- Authors
- Albus, J. S.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1975-09-01
- Volume
- 97
- Issue
- 3
- Pages
- 228-233
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2013815893
- Cited by
- 707
- References
- 0
- FWCI
- 1.05
- Type
- journal article
- Language
- en
- Open access
- closed
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- Albus, J. S. (1975). Data Storage in the Cerebellar Model Articulation Controller (CMAC). Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3426923
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
