Computational modeling of cerebellar model articulation controller / Alireza Jalali

The cerebellum has major role in the human motor control to coordinate the motion. The cerebellar model articulation controller is a computational model of the human cerebellum. This research is towards the study of cerebellar model articulation controller (CMAC) and its application to non-linear sy...

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Main Author: Alireza, Jalali
Format: Thesis
Published: 2015
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Online Access:http://studentsrepo.um.edu.my/6047/4/alireza.pdf
http://studentsrepo.um.edu.my/6047/
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spelling my.um.stud.60472021-11-26T00:15:01Z Computational modeling of cerebellar model articulation controller / Alireza Jalali Alireza, Jalali QA75 Electronic computers. Computer science QA76 Computer software The cerebellum has major role in the human motor control to coordinate the motion. The cerebellar model articulation controller is a computational model of the human cerebellum. This research is towards the study of cerebellar model articulation controller (CMAC) and its application to non-linear systems. This model of the CMAC is developed to explore its potential for predictive control of movement. The main limitation of Cerebellar Model Articulation Controller is memory size in application for non-linear systems. The size of memory which used by CMAC depends on input space dimension and input signal quantification step. Therefore, the efficient utilization of the CMAC memory is a crucial issue. Our main aim is to develop an optimal CMAC model which decrease memory size and increase the learning accuracy. To solve the memory size problem of CMAC a model namely Hierarchically Clustered Fuzzy Cerebellar Model Articulation Controller (HCFCMAC) is proposed. The performance of the proposed model is simulate and tested to control robotic arm. The presented simulation results show that proposed model is able to obtain a minimal modelling error and increase the learning accuracy. This study is an examination of the HCFCMAC in biped robot control. It addresses simulations of the cerebellum to control robot swing leg. The proposed method includes a new concept of footstep planning strategy based on the Semi Online Fuzzy Q-learning concept for biped robot control in dynamic environments. The main advantages of proposed approach are that, the computing time is very short and the footstep planning for both predictable and unpredictable obstacle in dynamic environment is operational. It will allow the controller to increase the strength. Another main contribution is on obstacle avoidance strategy for robot in dynamic environment. In this research the mathematical model of kinematics and dynamic of biped robot are described. Our approach is on gait pattern planning and control strategy for biped robot iii stepping over dynamic obstacles. The high–level control used to predict the motion of the robot and the low-level control applied to compute the trajectory of swing leg with operation of HCFCMAC. 2015 Thesis NonPeerReviewed application/pdf http://studentsrepo.um.edu.my/6047/4/alireza.pdf Alireza, Jalali (2015) Computational modeling of cerebellar model articulation controller / Alireza Jalali. PhD thesis, Universiti Malaya. http://studentsrepo.um.edu.my/6047/
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Student Repository
url_provider http://studentsrepo.um.edu.my/
topic QA75 Electronic computers. Computer science
QA76 Computer software
spellingShingle QA75 Electronic computers. Computer science
QA76 Computer software
Alireza, Jalali
Computational modeling of cerebellar model articulation controller / Alireza Jalali
description The cerebellum has major role in the human motor control to coordinate the motion. The cerebellar model articulation controller is a computational model of the human cerebellum. This research is towards the study of cerebellar model articulation controller (CMAC) and its application to non-linear systems. This model of the CMAC is developed to explore its potential for predictive control of movement. The main limitation of Cerebellar Model Articulation Controller is memory size in application for non-linear systems. The size of memory which used by CMAC depends on input space dimension and input signal quantification step. Therefore, the efficient utilization of the CMAC memory is a crucial issue. Our main aim is to develop an optimal CMAC model which decrease memory size and increase the learning accuracy. To solve the memory size problem of CMAC a model namely Hierarchically Clustered Fuzzy Cerebellar Model Articulation Controller (HCFCMAC) is proposed. The performance of the proposed model is simulate and tested to control robotic arm. The presented simulation results show that proposed model is able to obtain a minimal modelling error and increase the learning accuracy. This study is an examination of the HCFCMAC in biped robot control. It addresses simulations of the cerebellum to control robot swing leg. The proposed method includes a new concept of footstep planning strategy based on the Semi Online Fuzzy Q-learning concept for biped robot control in dynamic environments. The main advantages of proposed approach are that, the computing time is very short and the footstep planning for both predictable and unpredictable obstacle in dynamic environment is operational. It will allow the controller to increase the strength. Another main contribution is on obstacle avoidance strategy for robot in dynamic environment. In this research the mathematical model of kinematics and dynamic of biped robot are described. Our approach is on gait pattern planning and control strategy for biped robot iii stepping over dynamic obstacles. The high–level control used to predict the motion of the robot and the low-level control applied to compute the trajectory of swing leg with operation of HCFCMAC.
format Thesis
author Alireza, Jalali
author_facet Alireza, Jalali
author_sort Alireza, Jalali
title Computational modeling of cerebellar model articulation controller / Alireza Jalali
title_short Computational modeling of cerebellar model articulation controller / Alireza Jalali
title_full Computational modeling of cerebellar model articulation controller / Alireza Jalali
title_fullStr Computational modeling of cerebellar model articulation controller / Alireza Jalali
title_full_unstemmed Computational modeling of cerebellar model articulation controller / Alireza Jalali
title_sort computational modeling of cerebellar model articulation controller / alireza jalali
publishDate 2015
url http://studentsrepo.um.edu.my/6047/4/alireza.pdf
http://studentsrepo.um.edu.my/6047/
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score 13.160551