Discovery Channel. Biped

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1 Discovery Channel Biped Schaal S, Sternad D, Osu R, Kawato M: Rhythmic arm movement is not discrete Nature Neuroscience, 7, (004) Nakanishi J, Morimoto J, Endo G, Cheng G, Schaal S, Kawato M: Learning from demonstration and adaptation of biped locomotion, J Robotics and Autonomous Systems, 47, 7991 (004)

2 Morimoto J, Endo G, Nakanishi J, Hyon SH, Cheng G: Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking 006 IEEE International Conference on Robotics and Automation, ICRA06, submitted (005) By ATR and SONY IDL Collaborative Research An ATR/SARCOS development with ICOR/JST funding DB 6 Arts Shibata, T and Vijayakumar, S and Conradt, J and Schaal, S: Biomimetic Oculomotor Control Adaptive Behavior, 9, (001) CB_CG_Walk Monkey locomotion

3 A arallel Fiber and Climbing Fiber Inputs to urkinje Cells induce Simple Spikes and Complex Spikes Input signal urkinje cell Output signal arallel fiber (F) B Climbing fiber (CF) Error signal Simple spike (SS) Internal model output Complex Complex spike spike (CS) (CS) Error signal Error signal

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5 = (M L 1 M L 1 S cos I 1 I ) 1 (M L 1 S cos I ) M L 1 S ( 1 ) sin B 1 1 = (M L 1 S cos I ) 1 I M L 1 S 1 sin B

6 Jun Nakanishi, and Stefan SchaalFeedback error learning and nonlinear adaptive control Neural Networks, 17, (004) d dt = ( ff ) T fb desired E = 1 ( desired ff ) T ( desired ff ) d dt = ( ff ) T ( desired ff ) fb ( desired ff ) fb desired y n x i i y = i x i n d i dt = x i (C C spont ) C C spont d i dt = ( ff i ) fb = ((y) i ) fb = x i (C C spont ) SS t dw i t = w i x i t n t dt = x i t {CS t CS spont } w i t w i t ~ x i t {CS t CS spont } SS t = n ~ {CS t x i t {CS t CS spont } x i t CS spont} (1) () (3) (4) urkinje Cell Activity of Awake Monkeys during Eye Movement Tasks (OFR) Eye movements are recorded by implanted search coil Kenji Kawano, Munetaka Shidara, Hiroaki Gomi, Yasushi Kobayashi, Aya Takemura, Yuka Inoue

7 Simple and Complex Spikes of urkinje Cells in Monkeys during Ocular Following Responses Kawano, Shidara, Gomi, Kobayashi, Takemura Ocular Following Responses: Reflex movement induced by movement of large visual field f()= t M ( t ) B ( t ) K( t ) f bias A B C D F G H Spikes/s

8 Comparing simple spike and complex spike, temporal pattern is opposite, and firing rate is very different (100 spikes/sec vs 1 spike/sec) Simple spikes (purple) are maximally induced by ipsiversive or downward stimulus movement Complex spikes (blue) are opposite Firing rate is related to magnitude of movement Temporal profile of simple spike firing and complex spike firing for each neuron is very similar (just opposite in sign and firing rate is different) Complex spike firing may be a template for simple spike firing Simple spike of individual cell is prescribed by complex spike IDM representation Mirror between CS and SS 3 opulation coding to rate coding 4 Two opposite axes for CS and SS 5 Full learning simulation Shidara M, Kawano K, Gomi H, Kawato M: Inversedynamics model movement control by urkinje cells in the cerebellum Nature, 365, 505 (1993) Kawato M: Internal models for motor control and trajectory planning Current Opinion in Neurobiology, 9, (1999)

9 E1 I1 E I E 3 Simple spike activities in cerebellar arm related area (lobule V VI) do not asalar encode movement dynamics et al in Nature slow Neurosci tracking 006) arm movements (asalar et al, Nature Neuroscience, 006) vt () rt () p p p 300 p p 10 p p V1 A 1 V A V 3 A 3 I 3 e 0039 p S LV( t ) e 001 p () t Tracking arm movement task of monkeys (7cm/sec) Monkeys moved their arms under 10 force fields; 5 viscous and 5 elastic Movement kinematics (position, velocity, etc) were similar under 10 fields EMG activities of flexor carpi radialis at each hand position Movement dynamics (muscle activities and force) were largely different Simple spike activities at each hand position Simple spike activities were very similar Fast Arm Reaching under Two Force Fields flexion and extension of elbow (max 80cm/sec) After training Similar kinematics Simple Spikes encode Movement Dynamics Simple spikes: Different Temporal firing frequency of simple spike Mutual information Biceps muscle Largely different dynamics Triceps muscle Yamamoto K, Kawato M, Kotoaska S, Kitazawa S: Encoding of movement dynamics by urkinje cell simple spike activity during fast arm movements under resistive and assistive force fields Journal of Neurophysiology, (007) Simple > spike activities in 94 of 96 urkinje cells were significantly different between two fields 6 urkinje cells Simple Spikes instantaneously switched Monkeys switched muscle activities at the first trials when force fields were switched > Monkeys should have acquired internal models for the fields Monkeys switched simple spike activities from the 1 st trial after switching of force fields

10 OFRVFL Winkelman & Frens (005) Lange E

11 SarahJayne Blakemore,Daniel MWolpert and Christopher D FrithAbnormalities in the awareness of action Trends in Cognitive Sciences 6, 374, 00 ( ) ( ) ( ) 1 = 1 = 1 = ˆ 1 1 ˆ 3 ˆ ˆ 4 4

12 A mc A x A mc B x B B,mc,mc Q mc B = mc A (1 )mc A * 0 (VOR) (OFR)

13 VS MST,, : MST 500ms MST q p p q x cos sin p = y sin cos q y y x 10 x x = p y q r rio e p u S ) m (m Z r rio fe In Left Imamizu H, Miyauchi S, Tamada T, Sasaki Y, Takino R, uetz B, Yoshioka T, Kawato M: Human cerebellar activity reflecting an acquired internal model of a new tool Nature (000) X (mm) Right osterior Anterior Y (mm)

14 H E H Organization of 16 Daily Tools in the Right Superior Cerebellum MRI Mirror 16 tools and utensils: Chopsticks, saw, scissors, pencil, hammer, screwdriver, fork, spoon, tooth brush, brush, comb, cutting pliers, monkey wrench, wrench, knife and clip Higuchi et al Cortex (007) Medial Higuchi et al Cortex (007) Averaged across 8 subjects with fixed effect model p<005 corrected The peaks are projected in a horizontal plane Conditions Tooluse execution Hold the tool and look at the object control Tooluse motor imagery Ant lateral os Language and Tool Internal Models in Broca s Area: Segregation and Overlap 8 healthy subjects ( 14 males and 14 females) Conditions Tooluse execution Hold the tool and look at the object control Tooluse motor imagery Story listening Reversed story listening (control) Higuchi, Chaminade, Imamizu, Kawato (in preparation) Random effect analysis Typical subject MT: MSTd: MST: Newsome et al, (1988) : Kawano et al, (1994) Kawano et al, (199) FL VN Figure E H E H V V V C FL VFL G G vision VN MST vision vision vision MST MST E F G H E B V MST V V G V G FL VFL A B C D A VN

15 Kt Ft t ˆ (r, V) Ht It MST e f e 50ms MST