Brains, Behavior, and Robotics

Chapter 1 Mind and Matter    1
- The Shopping Center Problem
Chapter 2 The Basic Elements of the Brain    15
- Neurons
- Dendrites
- Axons
- Synapses
- Membrane Potential
- The Action Potential
Chapter 3 Sensory Input    35
- Touch
- Law of Specific Nerve Energies
- Vision
- The Retina
- Color Vision
- Higher Level Processing
- Hearing
- Taste and Smell
- Sensory Processing
Chapter 4 The Central Nervous System    65
- The Spinal Cord
- The Stretch Reflex
- Spinal Tracts
- The Brain Stem
- The Medulla
- The Reticular Formation
- The Midbrain
  - Red Nucleus
- The Thalamus
- The Forebrain
  - The Basal Ganglia
- The Cerebral Cortex
  - The Frontal Lobe
  - The Parietal Lobe
  - The Occipital Lobe
  - The Temporal Lobe
  - The Limbic Lobe
- Prospects for Modeling the Brain
Chapter 5 Hierarchical Goal-Directed Behavior    101
- Vectors
- States and Trajectories
- Functions and Operators
- Goal-Seeking Control Systems
- Hierarchical Control
- Intentional or Purposive Behavior
- Goal-Directed Behavior
- Obtaining Successful Performance
- Alternative Trajectories
- The Sensory-Processing Hierarchy
- The Use of Context
- Expectations and Predictions
- Internal World Models
- Summary
Chapter 6 A Neurological Model    139
 - The Cerebellar Model Arithmetic Computer (CMAC)
  - The S — M Mapping
  - The M — A Mapping
  - The A — p Mapping
- Data Storage in CMAC
- Memory Size Requirements in CMAC
- Generalization in the CMAC Memory
- The Learning of Behavior
- CMAC as a Computer
  - Conditional Branching
  - Finite-State Automata
  - Computing Integrals
  - IF/THEN Productions
Chapter 7 Modeling the Higher Functions    181
- Triune Brain Hypothesis
- Motor-Generating Hierarchies in the Brain
- Sensory-Processing Hierarchies in the Brain
- Cross-coupling
- Loops and Rhythms
- Locked Loops and Understanding
- Rhythm and Harmony
- The Origin of Language
- Writing
- Speech
- Storytelling
- Primitive Human Speech
- Mechanisms of Choice
  - Emotions
  - Will
- Origins of Will and Emotion
- Belief and Faith
- Acting, Observing, and Imagining
  - Acting—The Task Execution Mode
  - Observing—The Sensory Analysis Mode
  - Attention
  - Imagining—The Free-Running Mode
  - Planning
  - Daydreaming and Fantasizing
- Creativity
Chapter 8 Robots    229
- The Frankenstein Motif
- Robot Reality
- Industrial Robots
- Robot Senses
  - Robot Assembly
  - Sensory Interaction
- Conclusions
Chapter 9 Hierarchical Robot-Control Systems    261
- Programming a Hierarchical Control System
- The State-Machine Hierarchy
- The Sensory Hierarchy
- Use of the World Model
- Software Design
- CMAC Control Systems
- A Microcomputer Network Implementation
- Single Computer Implementation
- Future Developments
Chapter 10 Artificial Intelligence    281
- Planning and Problem Solving
- Production Systems
- Language Understanding
- Can Machines Understand?
Chapter 11 Future Applications    301
- Future Robot Cost Trends
- Robots in Construction Trades
- Future Research Problems
- Household Robots
- Robots in Energy, the Oceans, and Space
Chapter 12 Economic, Social, and Political Implications    327
- Barriers to a Robot Labor Force
- Potential Solutions
- Capital Requirements
- Opportunities for the Future
References    341
Index    349