Control of movement time and sequential action through attractor dynamics: A simulation study demonstrating object interception and coordination

摘要: The timing of movements and action sequences is difficult when on-line coupling to sensory information a requirement. That requirement arises in most behavior-based robot architectures, which relatively low-level often noisy sensor input used initiate steer action. We show how an attractor dynamics approach the generation behavior such architectures can be extended motor acts. propose two-layer architecture, competitive neural controls qualitative second, layer. At that second layer, periodic attractors generate timed movement. By activating limit cycles over limited time intervals, discrete movement obtained. demonstrate by simulating two tasks involve control timing: interception moving objects simple two-degree-of-freedom arm temporal coordination end-effector motions six-degree-of-freedom arms.