Parameterized Temporal Sequences for Motor Control of a Robot System

Abstract

. Learning of temporal sequences is a topic of research in such different areas as speech and other temporal pattern recognition as well as motor control (for a survey see e.g. Mozer, 1993). In this paper an approach is presented which is particularly suitable for motor control due to the fact that it does not only reproduce temporal sequences in exactly the way they where learned but it is able to generate slightly modified sequences according to given parameters, too. Key words. Neural Networks, Temporal Sequences, Motor Control, Motor Programs. 1 Introduction The human motor system is based on the interaction of muscles which are controlled by specific parts of the nervous system. When examining the nervous system, one can recognize a hierarchical structure, physiologically as well as functionally. In the lowest level the spinal cord provides simple motion sequences commonly summarized as reflex actions. They are triggered either by sensory neurons or by signals from the higher le...