{"id":"https://openalex.org/W4292794805","doi":"https://doi.org/10.1109/tcds.2022.3200839","title":"A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot","display_name":"A Cerebellum-Inspired Prediction and Correction Model for Motion Control of a Musculoskeletal Robot","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4292794805","doi":"https://doi.org/10.1109/tcds.2022.3200839"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3200839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3200839","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028564904","display_name":"Jinhan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhan Zhang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081627187","display_name":"Jiahao Chen","orcid":"https://orcid.org/0000-0003-0044-8887"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Chen","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0044-8887","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714561","display_name":"Wei Wu","orcid":"https://orcid.org/0000-0003-0748-4952"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0748-4952","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026688050","display_name":"Hong Qiao","orcid":"https://orcid.org/0000-0001-6384-3687"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Qiao","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6384-3687","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.607,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.93708937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"3","first_page":"1209","last_page":"1223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7462831139564514},{"id":"https://openalex.org/keywords/cerebellum","display_name":"Cerebellum","score":0.7208043336868286},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5338154435157776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5015625953674316},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4291735291481018},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3212684392929077},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.2101893126964569},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.08867540955543518}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7462831139564514},{"id":"https://openalex.org/C2779652256","wikidata":"https://www.wikidata.org/wiki/Q130983","display_name":"Cerebellum","level":2,"score":0.7208043336868286},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5338154435157776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5015625953674316},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4291735291481018},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3212684392929077},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.2101893126964569},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.08867540955543518},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3200839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3200839","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3214453966","display_name":null,"funder_award_id":"61627808","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G471587438","display_name":null,"funder_award_id":"XDB32050100","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G5826505512","display_name":null,"funder_award_id":"2017YFB1300203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6130823433","display_name":null,"funder_award_id":"91648205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8936065553","display_name":null,"funder_award_id":"91948303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":93,"referenced_works":["https://openalex.org/W1730458554","https://openalex.org/W1760258693","https://openalex.org/W1779938893","https://openalex.org/W1795951079","https://openalex.org/W1964734663","https://openalex.org/W1971984830","https://openalex.org/W1974803102","https://openalex.org/W1977012871","https://openalex.org/W1977140659","https://openalex.org/W1979826626","https://openalex.org/W1981262586","https://openalex.org/W1983698142","https://openalex.org/W1991239966","https://openalex.org/W1993397740","https://openalex.org/W1993740947","https://openalex.org/W1993841629","https://openalex.org/W1994207775","https://openalex.org/W2036451492","https://openalex.org/W2041176801","https://openalex.org/W2044355740","https://openalex.org/W2047237271","https://openalex.org/W2054302388","https://openalex.org/W2054751290","https://openalex.org/W2057461097","https://openalex.org/W2063765385","https://openalex.org/W2067572763","https://openalex.org/W2069873783","https://openalex.org/W2102701721","https://openalex.org/W2103442863","https://openalex.org/W2103756351","https://openalex.org/W2115652936","https://openalex.org/W2119717200","https://openalex.org/W2119796324","https://openalex.org/W2125378452","https://openalex.org/W2127934730","https://openalex.org/W2130281033","https://openalex.org/W2131299914","https://openalex.org/W2131856835","https://openalex.org/W2151906934","https://openalex.org/W2157050499","https://openalex.org/W2166991426","https://openalex.org/W2168529864","https://openalex.org/W2172285827","https://openalex.org/W2177933918","https://openalex.org/W2208978451","https://openalex.org/W2302808317","https://openalex.org/W2304447290","https://openalex.org/W2339414600","https://openalex.org/W2379851727","https://openalex.org/W2579300913","https://openalex.org/W2604536034","https://openalex.org/W2736127191","https://openalex.org/W2736601468","https://openalex.org/W2756765409","https://openalex.org/W2766074576","https://openalex.org/W2777101122","https://openalex.org/W2778191597","https://openalex.org/W2778821583","https://openalex.org/W2807644697","https://openalex.org/W2811482230","https://openalex.org/W2891765131","https://openalex.org/W2894298649","https://openalex.org/W2951200949","https://openalex.org/W2953293408","https://openalex.org/W2958452288","https://openalex.org/W2960303376","https://openalex.org/W2963864421","https://openalex.org/W2968221562","https://openalex.org/W2974948867","https://openalex.org/W2983424251","https://openalex.org/W2996514457","https://openalex.org/W3003820461","https://openalex.org/W3048679750","https://openalex.org/W3102920211","https://openalex.org/W3117407503","https://openalex.org/W3153964553","https://openalex.org/W3157610864","https://openalex.org/W3197667407","https://openalex.org/W3201521730","https://openalex.org/W3215763242","https://openalex.org/W4206564404","https://openalex.org/W4239127880","https://openalex.org/W4242770316","https://openalex.org/W4288009511","https://openalex.org/W6637794707","https://openalex.org/W6679386699","https://openalex.org/W6684921986","https://openalex.org/W6741002519","https://openalex.org/W6747231145","https://openalex.org/W6770894543","https://openalex.org/W6794539891","https://openalex.org/W6801520560","https://openalex.org/W6806748634"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"It":[0],"is":[1,43,70,83,90,133,201,225],"an":[2],"important":[3],"issue":[4],"that":[5,242],"how":[6],"to":[7,16,45,92,122,227],"regulate":[8],"the":[9,18,30,35,51,57,62,66,74,81,86,106,110,113,116,123,127,129,144,157,160,169,174,182,185,189,193,210,216,229,233,236,243,249,256,261,269],"existing":[10],"control":[11,94,118,212,234],"models":[12],"of":[13,20,34,50,61,109,115,126,150,156,173,184,235,255,268],"musculoskeletal":[14,223,257],"robots":[15],"improve":[17,248],"ability":[19,264],"motion":[21,31,107,217,250,262],"learning":[22,79,137,253],"and":[23,40,147,252,259,265],"generalization.":[24],"In":[25,220],"this":[26],"article,":[27],"based":[28],"on":[29,56,143],"modulation":[32],"function":[33,183],"cerebellum,":[36,128],"a":[37,222],"cerebellum-inspired":[38,244],"prediction":[39,68,101,218],"correction":[41,131,175,199,205],"model":[42,69,132,245],"proposed":[44],"carry":[46],"out":[47],"feedforward":[48],"regulation":[49],"original":[52,211],"controller.":[53],"First,":[54],"drawing":[55,142],"reservoir":[58],"computing":[59],"mechanism":[60],"cerebellar":[63,151],"granular":[64],"layer,":[65],"cerebellum":[67,100,130,186,198,204,237],"established":[71],"by":[72,141,214],"using":[73,85,215],"echo":[75],"state":[76],"network.":[77],"Incremental":[78],"for":[80,197],"network":[82,102,136,161,176,206],"achieved":[84],"replay":[87],"method,":[88],"which":[89],"able":[91],"process":[93],"signals":[95,213],"with":[96],"different":[97],"distributions.":[98],"The":[99,135,154,203,239],"can":[103,207,246],"accurately":[104,208],"predict":[105],"results":[108,240],"robot":[111,224],"under":[112,232],"action":[114],"time-series":[117],"signals.":[119],"Second,":[120],"referring":[121],"neural":[124],"pathways":[125],"constructed.":[134],"rules":[138,172],"are":[139,165,178],"designed":[140],"long-term":[145],"potentiation":[146],"depression":[148],"processes":[149],"synaptic":[152],"plasticity.":[153],"characteristics":[155],"parameters":[158],"in":[159,188],"weight":[162],"update":[163,171],"equations":[164],"further":[166],"analyzed.":[167],"And":[168],"hyperparameter":[170],"weights":[177],"proposed.":[179,202],"To":[180],"simulate":[181],"involved":[187],"limb":[190],"ballistic":[191],"movement,":[192],"adaptive":[194],"adjustment":[195],"method":[196],"duration":[200],"modulate":[209],"results.":[219],"experiments,":[221],"used":[226],"verify":[228],"movement":[230],"effects":[231],"model.":[238],"show":[241],"effectively":[247],"accuracy":[251],"efficiency":[254],"robot,":[258],"enhance":[260],"generalization":[263],"system":[266],"robustness":[267],"robot.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
