A Growing Cognitive Model of Motor Balance Skill: Architecture, Algorithm and Application

A growing cognitive model of motor balance skill (CMMBS), which simulates the manners of human beings and animals in motor balance skill learning, is presented. CMMBS, whose architecture is similar to the reflex arc of the biologic nerve, adopts a growing algorithm from reference to Growing Cell Structures in order to perform the pattern classification in the nerve center. This growing mechanism is able to be evolved through the continuous growing of the new neuron. Reinforcement Hebbian Synaptic Modification is used as the self-learning method in CMMBS to make the neurons in difference fields to respond to the different stimulus in the best way. The inverted pendulum is chosen as the control object and CMMBS is used to achieve the self-skilllearning. The experimental results are shown that CMMBS can interact autonomously with the environment and develop the motor balance skill by the growing manners of neural system itself. Keyword: cognitive model, growing cell structures, Hebbian learning, inverted pendulum