抄録
For new robot controller, motor development mechanism of human is focused. This research aims at making clear mechanism of getting body movements. We propose two essenses, (1) compressions of the motor command redundancy, and (2) memories of the motion. A neural model is constructed, caputuring these essenses and essential features of biological systems. Experiments with one-joint two-link twelve-muscle model is carryed out. Through them, it is shown that the model has the ability of getting body movements. In addition, this model has the pull-in ability. This result suggests that this model can correspond some nerve system.
