An overview of cerebellar control

Cerebellar models were first applied for robot dynamics control after Albus´ CMAC model was published in 1975. Especially the later implementations by Miller et al. (1989, 1997) for control of a 4-DOF robot arm as well as biped control have demonstrated the power of this approach. Although cerebellar modelling has come a long way since then, applications of such models remain limited to toy problems, not exceeding the complexity of (simulated) two-link robot arms