In the study of the computational structure of biological/robotic
sensorimotor systems, distributed models have gained center stage
in recent years, with a range of issues including
self-organization, non-linear dynamics, field computing etc. This
multidisciplinary research area is addressed here by a
multidisciplinary team of contributors, who provide a balanced set
of articulated presentations which include reviews, computational
models, simulation studies, psychophysical, and neurophysiological
experiments.
The book is divided into three parts, each characterized by a
slightly different focus: in part I, the major theme concerns
computational maps which typically model cortical areas, according
to a view of the sensorimotor cortex as "geometric engine" and the
site of "internal models" of external spaces. Part II also
addresses problems of self-organization and field computing, but in
a simpler computational architecture which, although lacking a
specialized cortical machinery, can still behave in a very adaptive
and surprising way by exploiting the interaction with the real
world. Finally part III is focused on the motor control issues
related to the physical properties of muscular actuators and the
dynamic interactions with the world.
The reader will find different approaches on controversial
issues, such as the role and nature of force fields, the need for
internal representations, the nature of invariant commands, the
vexing question about coordinate transformations, the distinction
between hierachiacal and bi-directional modelling, and the
influence of muscle stiffness.
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