How can robotics benefit from neuroscience to build a unified framework that computes actions for both locomotion and manipulation tasks? Inspired by the hierarchical neural control of movement from cortex to spinal cord, we propose a model that generates a concrete action representation in robotics. The action program is composed of four basic modules: 1) pattern selection; 2) spatial coordination; 3) temporal coordination; and 4) sensory motor adaptation. The first and the fourth are considered for behavior initiation. The model is implemented on a humanoid robot to generate rhythmic and nonrhythmic movements. The robot is able to perform tasks like perturbation recovery, and drawing based on different motor programs generated by the same model. Unifying motor control in robotics through a hierarchical structure increases the capacity to gain an accurate and deep understanding of transfer of motor skills between different tasks.

中文翻译：

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具体动作表示模型：从神经科学到机器人

机器人技术如何从神经科学中受益，以构建一个统一的框架来计算运动和操作任务的动作？受从皮层到脊髓运动的分层神经控制的启发，我们提出了一个模型，可以在机器人技术中生成具体的动作表示。动作程序由四个基本模块组成：1）模式选择；2）空间协调；3) 时间协调；和 4) 感觉运动适应。第一个和第四个被认为是行为启动。该模型在仿人机器人上实现，以生成有节奏和无节奏的运动。机器人能够根据同一模型生成的不同运动程序执行扰动恢复和绘图等任务。