Cerebellar control of a line following robot

Abstract

This paper proposes a robot control architecture inspired by the biology of the cerebellum. The cerebellum is thought to be the location of movement coordination in the body. It is hypothesized that through the use of some form of learned internal model, the cerebellum is able to overcome inherent sensory latency and coordinate fast, accurate movement without the need of a complex mathematical algorithm. The study presented in this paper attempts to encapsulate these attributes.in an introductory experiment based around a line following robot. The robot learns to negotiate a circuit using a crude supervising module as the teacher, and