2004 IEEE Conference on Cybernetic and Intelligent Systems

2004 IEEE Conference on Robotics, Automation and Mechatronics

December 1 to 3, 2004
Traders Hotel, Singapore


Brain Motor Control and Robotics: A Control Theoristís Perspective

Hidenori Kimura


From the viewpoint of motion control, human being and robot are in principle indistinguishable. Activation of a motor neuron to contract muscles and driving an electrical motor to rotate a joint angle are considered to be the same sort of control actions. However, there are still insurmountable gaps between what human being can do and what robot can do. Control is a key technology to reduce the gap. It is important, however, to be aware of the fact that control in biological organisms is significantly different in many respects from control of artifacts which has been the target of control theory. Therefore, translations of biological control to control theory framework are not sufficient to get true insight into biological control. Instead, there are many new features of control in living organisms that are really challenges for control theory.

In this talk, different features of biological control are presented such as coordination, robustness, objective change during control, variable structure, intrinsic adaptation, etc, which are also key issues of creating humanoid robot that behaves humanly. Some research directions towards the control theory of brain are suggested which may bridge between human being and robot from control viewpoint.



Professor Hidenori Kimura

Professor of Complex Systems
Department of Complexity Science and Engineering
Graduate school of Frontier Science

The University of Tokyo
7-3-1 Hongo, Bunkyo-ku

Tokyo 113-8656, Japan



Professor Hidenori Kimura was graduated from the University of Tokyo in 1965. He received the degree of the Doctor of the Engineering from the University of Tokyo in 1970. After he joined the Faculty of Engineering Science and then the Faculty of Engineering, Osaka University, he moved to the Faculty of Engineering, the University of Tokyo in 1995, where he was a professor of control engineering. Currently, he is a Laboratory Head of the Bio-mimetic Control Research Center of RIKEN (The Institute of Physical and Chemical Research). In 1994, he was invited as a Guest Professor at the Technical University of Delft, The Netherlands, and also he was invited as Springer Professor at the University of California, Berkeley. He is now interested in robust control, learning theory, modeling and control of biological control. He has published more than one hundred technical papers and several books. He received the paper award and author's award from SICE several times. He was also a recipient of the George Axelby Paper Award from IEEE CSS in 1985 and the paper Prize Award from IFAC in 1984 and in 1990. He is a Fellow of SICE and IEEE. He was the General Chair of the 35th Conference on Decision and Control held in Kobe in 1996. He is a member of the Science Council of Japan from 2003.





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