---
abstract: |
  Cerebellar models have long been advocated as viable models
  for robot dynamics control.  Building on an increasing insight
  in and knowledge of the biological cerebellum, many models have been
  greatly refined, of which some computational models have emerged
  with useful properties with respect to robot dynamics control.
  
  Looking at the application side, however, there is a totally different
  picture.  Not only is there not one robot on the market which uses
  anything remotely connected with cerebellar control, but even in
  research labs most testbeds for cerebellar models are restricted to
  toy problems.  Such applications hardly ever exceed the complexity of
  a 2 DoF simulated robot arm; a task which is hardly representative for
  the field of robotics, or relates to realistic applications.
  
  In order to bring the amalgamation of the two fields forwards, we
  advocate the use of a set of robotics benchmarks, on which existing
  and new computational cerebellar models can be comparatively tested.
  It is clear that the traditional approach to solve robotics dynamics
  loses ground with the advancing complexity of robotic structures;
  there is a desire for adaptive methods which can compete as traditional
  control methods do for traditional robots.
  
  In this paper we try to lay down the successes and problems in the
  fields of cerebellar modelling as well as robot dynamics control.
  By analyzing the common ground, a set of benchmarks is suggested
  which may serve as typical robot applications for cerebellar models.
altloc:
  - http://www.robotic.dlr.de/Smagt/papers/Sma2000.pdf
chapter: ~
commentary: ~
commref: ~
confdates: ~
conference: ~
confloc: ~
contact_email: ~
creators_id: []
creators_name:
  - family: van der Smagt
    given: Patrick
    honourific: ''
    lineage: ''
date: 2000
date_type: published
datestamp: 2001-02-26
department: ~
dir: disk0/00/00/13/20
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name: []
eprint_status: archive
eprintid: 1320
fileinfo: /style/images/fileicons/application_postscript.png;/1320/1/Sma2000.ps.gz|/style/images/fileicons/application_pdf.png;/1320/4/Sma2000.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: |-
  robot dynamics, robot arm control,
          computational cerebellar models, neural networks
lastmod: 2011-03-11 08:54:35
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: 3
pagerange: 237-251
pubdom: FALSE
publication: Robotics and Autonomous Systems
publisher: ~
refereed: TRUE
referencetext: |
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relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:37:21
subjects:
  - comp-neuro-sci
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: Benchmarking Cerebellar Control
type: journalp
userid: 462
volume: 23
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