10.0 Generating Motions
Twenty years ago, Marr (1969) and Albus (1971) suggested that the circuitry of thecerebellum resembles the learning machine known as the "perceptron." A perceptron learns howto assign an appropriate output to each input by obeying the suggestions of its "teacher". Theteacher provides encouragement when the perceptron is successful, and discouragementotherwise. Marr and Albus proposed…