Concrete Action Representation Model: From Neuroscience to Robotics

摘要

How can robotics benefit from neuroscience to build a unified framework that computes actions for both locomotion and manipulation tasks? Inspired by the hierarchical neural control of movement from cortex to spinal cord, we propose a model that generates a concrete action representation in robotics. The action program is composed of four basic modules: 1) pattern selection; 2) spatial coordination; 3) temporal coordination; and 4) sensory motor adaptation. The first and the fourth are considered for behavior initiation. The model is implemented on a humanoid robot to generate rhythmic and nonrhythmic movements. The robot is able to perform tasks like perturbation recovery, and drawing based on different motor programs generated by the same model. Unifying motor control in robotics through a hierarchical structure increases the capacity to gain an accurate and deep understanding of transfer of motor skills between different tasks.