A brain model of enactive motor control of an inverted pendulum
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1
University Pierre & Marie Curie, France
The embodied brain is an autopoietic system maintaining or reaching desired states such as survival, pleasure ... despite perturbations with its environment. Here, the system tries to attain the dopaminergic-reinforced pleasure of maintaining as long as possible the unstable equilibrium of an "inverted pendulum". This problem was chosen since it has already been addressed by many methods, such as neural network, fuzzy logic, viability theory ... It enacts with its environment by moving the hand in order to maintain the unstable equilibrium, driven by the dopamine-induced pleasure of keeping the equilibrium longer and longer, through a compliant interface, the muscle and its spinal loops. The adaptive rules of the model simulate the synaptic plasticities observed at different sites of the brain, namely the cerebral cortex (cortico-cortical and thalamo-cortical synapses), the cerebellum and the striatum (input nucleus of the basal ganglia). We consider that the brain controls a "working point" that is here the contact point between the index fingertip, or the hand’s palm, and the pendulum. Within a scheme of embodied autopoiesis system, both the supervised error-like cerebellar signal E (vector) and the dopaminergic reinforcement-like signal F (scalar) that are low frequency (1 to 4 spike/s) randomly-like signals, are not computed in order to be the appropriate (error or reinforced) signals that their target (cerebellar or striatal) cells require. Oppositely, E and F force their target cells to learn their optimal contribution to the cerebral cortex. Therefore, they determine the “function” of their target cells. Preliminary results show a progressive shift from discontinuous, pleasant despite difficult, striatal control to more automatic and continuous, easier though boring, cerebellar control.
Conference:
10th International Conference on Cognitive Neuroscience, Bodrum, Türkiye, 1 Sep - 5 Sep, 2008.
Presentation Type:
Poster Presentation
Topic:
Neuroinformatics of Cognition
Citation:
Dufossé
M
(2008). A brain model of enactive motor control of an inverted pendulum.
Conference Abstract:
10th International Conference on Cognitive Neuroscience.
doi: 10.3389/conf.neuro.09.2009.01.335
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Received:
15 Dec 2008;
Published Online:
15 Dec 2008.
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Correspondence:
Michel Dufossé, University Pierre & Marie Curie, Paris, France, michel.dufosse@snv.jussieu.fr