A Computational Model of Motor Behavior
Abstract
Generating even simple motor behavior using artificial manipulators has proven to be a very difficult task. A computational model of motor behavior is presented that assumes three inputs: a limb to carry out motor commands, a viewer-centered schema describing the desired behavior, and a sensory-motor interface allowing two-way communication between the agent and the environment. A motor schema is defined as a memory structure containing a few positions from the trace of a movement. The model then produces intervening points between those in the schema. A viewer-centered schema is transformed into its dual representation, facilitating execution of the desired movement on the limb. These two forms of a schema represent the same points in three-dimensional space, but behave in ways which have important differences when they are acted upon by the model. Our model accounts for a number of phenomena from the literature, including the speed/accuracy tradeoff, and the closed and open loop distinction. The model suggests directions for further experimentation. Keywords: Computational models, Artificial intelligence, Cognitive science, Motor schema.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1987
- Accession Number
- ADA191179
Entities
People
- Pat Langley
- Wayne Iba
Organizations
- University of California, Irvine