Data Storage in the Cerebellar Model . . .

The storage of manipulator control junctions in the CMAC memory i s accomplished by an iterative process which, i jthe control junction i s sufiiently smooth, will converge. There are several diferent techniques for loading the CMAC memory depending on Ihe amount of datu which has already been stored and the degree o j accuracy which i s desired. The CMAC system lends itself to a "natural " partitioning of the control problem into manageable subproblems. At each level the CM AC controller translates commands from the next higher level into sequences of instructions to the next lower level. Data storage, or training, i s accomplished first at the lowest level and must be completed, or nearly so, at each level bejwe i t can be initiated at the next higher level.