How Can Brain Learn to Control a Nonholonomic System.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2010, Article ID 919306, 7 pages doi:10.1155/2010/919306 Research Article How Can Brain Learn to Control a Nonholonomic System? Noriyasu Homma,1 Shinpei Kato,2 Takakuni Goto,3 Ivo Bukovsky,1, 4 Ryuta Kawashima,3 and Makoto Yoshizawa1 1 CyberScience Center, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan 2 Graduate School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan 3 Institute of Development, Aging and Cancer, Tohoku University, Seiryo-machi 4-1, Aoba-ku, Sendai 980-8575, Japan 4 Faculty of Mechanical Engineering, Czech Technical University in Prague, Technicka 4, 166 07 Prague 6, Czech Republic Correspondence should be addressed to Noriyasu Homma, homma@ Received 14 December 2009; Accepted 5 March 2010 Academic Editor: Zeng-Guang Hou Copyright © 2010 Noriyasu Homma et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Humans can often conduct both linear and nonlinear control tasks after a sufficient number of trials, even if they initially do not have sufficient knowledge about the system’s dynamics and the way to control it. Theoretically, it is well known that some nonlinear systems cannot be stabilized asymptotically by any linear controllers and we have reported by an f-MRI experiment that different types of information may be involved in linear and nonlinear control tasks, respectively, from a brain function mapping point of view. In this paper, from a controllability analysis, we still show a possibility that human may use a linear control scheme for