基于操作条件反射机制的感觉运动系统认知模型的建立-机器人.PDF

34 3 ROBOT Vol.34, No.3 2012 5 May, 2012 DOI 10.3724/SP.J.1218.2012.00292 063009 TP391 A 1002-0446(2012)-03-0292-07 Foundation of the Sensorimotor System Cognitive Model with Operant Conditioning Mechanism REN Hongge SHI Tao ZHANG Ruicheng (College of Electrical Engineering, Hebei United University, Tangshan 063009, China) Abstract: For the movement balance control, a sensorimotor system cognitive model based on operant conditioning prin- ciple is presented, and the cooperation among cerebellum, basal ganglia, cerebral cortex and other nervous organs is studied, so that a cognitive model of sensorimotor system is established. The cognitive model mainly consists of cerebellum, basal ganglia and cerebral cortex. Thereinto, the cerebellum realizes sensorimotor nerve mapping from states to actions by super- vised learning; the basal ganglia implements probabilistic choice of actions based on operant conditioning principle according to action forecast evaluation results; moreover, the cerebral cortex receives and sends useful information to the basal ganglia and cerebellum, consequently, the closed feedback loop of a sensorimotor system is formed. This paper presents concrete structure, function and algorithm of the sensorimotor system cognitive model based on operant conditioning principle, and perf