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On-line NNAC for a Balancing Two-Wheeled Robot Using Feedback-Error-Learning on the Neurophysiological Mechanism

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Figure

Figure 2  (a) structure of brain (b) structure of cerebellum
Figure 3 Regulate and control mode of behavior central with cerebellar model. CCM, cerebral cortex model; CBM, cerebellar model; BS, brainstem; SCM, spinal cord model
Figure 6 NNAC based on feedback-error-learning scheme. MF, mossy fibres; GC, granule cells; PF, parallel fibres; PC, purkinje cells; CF, climbing fibres; IO, inferior olive;
Figure 8 Simulation results using On-line NNAC with a step disturb.
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