?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Cerebellar+Control+of+Robot+Arms&rft.creator=van+der+Smagt%2C+P.&rft.subject=Computational+Neuroscience&rft.subject=Neural+Nets&rft.subject=Robotics&rft.description=Decades+of+research+into+the+structure+and+function+of+the+cerebellum+have+led+to+a+clear+understanding+of+many+of+its+cells%2C+as+well+as+how+learning+takes+place.+Furthermore%2C+there+are+many+theories+on+what+signals+the+cerebellum+operates+on%2C+and+how+it+works+in+concert+with+other+parts+of+the+nervous+system.+Nevertheless%2C+the+application+of+computational+cerebellar+models+to+the+control+of+robot+dynamics+remains+in+its+infant+state.+To+date%2C+a+few+applications+have+been+realized%2C+yet+limited+to+the+control+of+traditional+robot+structures+which%2C+strictly+speaking%2C+do+not+require+adaptive+control+for+the+tasks+that+are+performed+since+their+dynamic+structures+are+relatively+simple.+The+currently+emerging+family+of+light-weight+robots+poses+a+new+challenge+to+robot+control%3A+due+to+their+complex+dynamics+traditional+methods%2C+depending+on+a+full+analysis+of+the+dynamics+of+the+system%2C+are+no+longer+applicable+since+the+joints+influence+each+other+dynamics+during+movement.+Can+artificial+cerebellar+models+compete+here%3F+In+this+overview+paper+we+present+a+succinct+introduction+of+the+cerebellum%2C+and+discuss+where+it+could+be+applied+to+tackle+problems+in+robotics.+Without+conclusively+answering+the+above+question%2C+an+overview+of+several+applications+of+cerebellar+models+to+robot+control+is+given.&rft.date=1998-12&rft.type=Journal+(Paginated)&rft.type=PeerReviewed&rft.format=application%2Fpostscript&rft.identifier=http%3A%2F%2Fcogprints.org%2F518%2F2%2FSma98a.ps&rft.identifier=++van+der+Smagt%2C+P.++(1998)+Cerebellar+Control+of+Robot+Arms.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F518%2F