Schilling, Malte ; Cruse, Holk: What's next: Recruitment of a grounded predictive body model for planning a robot's actions. In: Frontiers in Psychology. Jg.3 H. 383. 2012, S. 383 ff.

Inhalt

Sensor fusion

Possible neuronal architectures

Material and Methods: The Mean of Multiple Computation Model

The MMC body model

The leg model
The thorax model

Procedural memory elements and motivation units

Results: Simulation of the MMC Network

Application as a forward model
Application as an inverse model

Discussion

Internal body models
Internal models used for planning ahead through internal trial-and-error

Conclusion and Future Work
Acknowledgments
References
Appendix

Classical MMC network describing a three-segmented arm working in a two-dimensional plane
Angular MMC network representing an insect leg

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