On the Use of Regulator Theory in Neuroscience with Implications for Robotics

Abstract

We survey recent results on the use of regulator theory in neuroscience, particularly to model the contribution of the cerebellum to motor systems. Based on our study of the slow eye movement systems as well as visuomotor adaptation, several themes emerge, including a promising structural model of the cerebellum, and insights on how the cerebellum may enable and disable internal models. Implications for robotics are discussed at the