A robot conditioned reflex system modeled after the cerebellum

Abstract

Most modern theories of behavior involve a hierarchical structure whereby low level behavioral units are controlled or manipulated by higher centers so as to produce characteristic patterns of movement. In the simplest life forms, low level behavioral units may consist of simple reflex arcs with very little higher level control. In intermediate forms, the low level behavioral units may be relatively complex in themselves and subject to sophisticated control from higher centers. In the most advanced nervous systems, higher centers may themselves be arrayed in a hierarchical structure, with each level monitoring activity and exerting control over the levels beneath it.