Extending Kohonen’s Self-Organizing Mapping Algorithm to Learn Ballistic Movements

  • Helge Ritter
  • Klaus Schulten
Part of the Springer Study Edition book series (volume 41)


Rapid limb movements are known to be initiated by a brief torque pulse at the joints and to proceed freely thereafter (ballistic movements). To initiate such movements with a desired starting velocity u requires knowledge of the relation between torque pulse and desired velocity of the limb. We show for a planar two-link arm model that this relationship can be learnt with the aid of a self-organizing mapping of the type proposed earlier by Kohonen. To this end we extend Kohonen’s algorithm by a suitable learning rule for the individual units and show that this approach results in a significant improvement in the convergency properties of the learning rule used.


Learning Rule Ballistic Movement Learning Step Adjustment Rule Torque Pulse 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • Helge Ritter
    • 1
  • Klaus Schulten
    • 1
  1. 1.Physik-DepartmentTechnische Universität MünchenGarchingFederal Republic of Germany

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