Interfacing between a cerebellar model and a robotics simulator

In this master’s thesis a software library will be presented to be used in conjunction with a robotic simulation platform. This library enables roboticists to conduct research without the usual constraints imposed by a simulator. It enables fast-prototyping of models with Matlab and the use of distributed models. A model of the cerebellum is used to showcase this library. First a simple demonstration will be given showing the general working of the model and its stability when faced with noise. A second demonstration will be given showing the ability of the model to cope with and use complicated inputs. These inputs are obtained through the processing of camera images gathered from the simulation. The theory behind the cerebellar model and the visual processing techniques will be discussed in-depth as well as the design decisions leading to the software library. Doing so will facilitate future extensions to both the cerebellar model and the software library.