Download - International Conference on Intelligent Robots and Systems Maui, …lasa.epfl.ch/publications/uploadedFiles/AB_Schaal_IROS... · 2016-04-18 · International Conference on Intelligent

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Motor map

Starts learning and rehearsal

without imitation

Input: visual data (pixels)

Frame of ref transformation

Extrinsic -> intrinsic

Inhibits learning until a change

in one limb position is observed

Links visual and motor

representation of actions

Learn new actions

of movement

Learning of sequences

Inhibits mvmt during observation

Motor Control

Learning System

PM module

Cerebellum module

Decision module

M1 module

Spinal Cord

Central Pattern Generators

Motor neurons command muscles

Sensory feedback: joint angle

TC Module

Attentional module

Visual System

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Proceedings of the 2001 IEEE/RSJInternational Conference on Intelligent Robots and SystemsMaui, Hawaii, USA, Oct. 29 - Nov. 03, 2001

0-7803-6612-3/01/$10.00 2001 IEEE 734

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