Construction of 'Mobile Function' base on computational theory of brain - 1st report: acquisition of self-model with feedback error learning scheme

摘要

This paper describes the basic experiments for constructing the 'mobile function' based on the computational theory of the brain. In this report, we utilize the feedback error learning scheme to acquire its controllers as a low level function. The feedback error learning scheme is known as a voluntary motion learning method in the biological cerebellum, which is proposed by Kawato et al. We have some experiments related to constructing controller using an omnidirectional mobile robot, which is developed in RIKEN. This is the first report of our project.