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Internal Models in Biological Control

Accepted version
Peer-reviewed

Type

Article

Change log

Authors

Wolpert, DM 

Abstract

Rationality principles such as optimal feedback control and Bayesian inference underpin a probabilistic framework that has accounted for a range of empirical phenomena in biological sensorimotor control. To facilitate the optimization of flexible and robust behaviors consistent with these theories, the ability to construct internal models of the motor system and environmental dynamics can be crucial. In the context of this theoretic formalism, we review the computational roles played by such internal models and the neural and behavioral evidence for their implementation in the brain.

Description

Keywords

internal model, state estimation, predictive control, planning, optimal feedback control, Bayesian inference

Journal Title

Annual Review of Control, Robotics, and Autonomous Systems

Conference Name

Journal ISSN

2573-5144
2573-5144

Volume Title

2

Publisher

Annual Reviews
Sponsorship
Wellcome Trust (097803/Z/11/Z)
Royal Society (RP120142)
Wellcome Trust (110257/Z/15/Z)