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A new adaptive motor controller was constructed, and tested on the control of a 2-wheeled balancing robot in simulation and real world. The controller consists of a feedback (PD) controller and a cerebellar neuronal network model. The structure of the cerebellar model was configured based upon known anatomical neuronal connection in the cerebellar cortex.(More)
Major attention has been given to the cerebellum owing to its principal role during motor learning, sensory-motor transformations, and cognitive functioning. As a result, its neuronal circuitry and learning capabilities have been well identified [1,2], and various mathematical models have been proposed to explain experimental data. Previously we have(More)
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