Neuronal Group Selection Theory: A Grounding in Robotics

In this paper, we discuss a current attempt at applying the organi(cid:173) zational principle Edelman calls Neuronal Group Selection to the control of a real, two-link robotic manipulator. We begin by moti(cid:173) vating the need for an alternative to the position-control paradigm of classical robotics, and suggest that a possible avenue is to look at the primitive animal limb'neurologically ballistic' control mode. We have been considering a selectionist approach to coordinating a simple perception-action task. At the joints there are typically also sensors measuring the relative position of adjacent links, and it is in terms of position that manipulators are generally controlled (a desired motion is specified as a desired position of the end effector, from which can be derived the necessary positions of the links comprising the manipulator). Position control dominates largely for historical reasons, rooted in bang-bang control: manipulators bumped between mechanical stops placed so as to enforce a desired trajectory for the end effector.