Prescott, T.J., Gurney, K. orcid.org/0000-0003-4771-728X, Montes-Gonzalez, F. et al. (2 more authors) (2002) The robot basal ganglia: Action selection by an embedded model of the basal ganglia. In: Nicholson, L.F.B. and Faull, R.L.M., (eds.) BASAL GANGLIA VII. Seventh Triennial Meeting of the International Basal Ganglia Society, II - 15 February 2001 , Waitangi, Bay of Islands, New Zealand. , pp. 349-358.
Abstract
Action selection is the task of resolving conflicts between multiple sensorimotor systems seeking access to the final common motor path. Recently,1, 2 we proposed that the basal ganglia may act to provide a biological solution to the problem of selection. To test this notion we have implemented a high level computational model of intrinsic basal ganglia circuitry and its interactions with simulated thalamocortical connections.3, 4 The computational model was then exposed to the rigors of ‘real world’ action selection by embedding it within the control architecture of a small mobile robot.5 In a mock foraging task, the robot was required to select appropriate actions under changing sensory and motivational conditions, thereby generating sequences of integrated behavior. Our results demonstrate: (i) the computational model of basal ganglia switches effectively between competing channels depending on the dynamics of relative input ‘salience’; (ii) its performance is enhanced by inclusion of anatomically inspired thalamocortical circuitry; (iii) in the robot, the model demonstrates appropriate and clean switching between different actions and is able to generate coherent sequences of behavior.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2002 Springer Science+Business Media New York |
Keywords: | COMPUTATIONAL MODEL; FUNCTIONAL-ANATOMY |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 20 Jul 2017 08:44 |
Last Modified: | 21 Jul 2017 09:35 |
Status: | Published |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:114160 |