Abstract
Anticipatory Postural Adjustments (APAs) are motor responses which anticipate a perturbation on the current body position caused by a voluntary act. Here we propose that APAs can be decomposed into a compensatory and an anticipatory component and that the cerebellum might be involved in the acquisition of such responses. To test this hypothesis, we use a cerebellar model to control the acquisition of an APA in a robotic task: we devise a setup where a mobile robot is trained to acquire an APA which minimizes a perturbation in its speed after a collision with an obstacle. Our results show that the same cerebellar model can support the acquisition of an APA separately learning its two sub-components. Moreover, our solution suggests that the acquisition of an APA involves two stages: acquisition of a compensatory motor response and prediction of an incoming sensory signal useful to trigger the same response in an anticipatory manner.
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Maffei, G., Herreros, I., Sánchez-Fibla, M., Verschure, P.F.M.J. (2013). Acquisition of Anticipatory Postural Adjustment through Cerebellar Learning in a Mobile Robot. In: Lepora, N.F., Mura, A., Krapp, H.G., Verschure, P.F.M.J., Prescott, T.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2013. Lecture Notes in Computer Science(), vol 8064. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39802-5_47
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DOI: https://doi.org/10.1007/978-3-642-39802-5_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-39801-8
Online ISBN: 978-3-642-39802-5
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