Neurorobotics:From Vision to Action References 1475 We have sampled the design of just a few subsystems LIP,MIP,motor cortex,nucleus accumbens,parietal cor- (both functional and structural)in just a few animals tex,prefrontal cortex,premotor cortex,pre-SMA(F6), -optic flow in the bee,approach,escape,and barrier spinal cord,STS,and VIP-and it is clear that there avoidance in frogs and toads,and navigation in the rat, are many more details to be understood for each region, as well as the control of eye movements in visual atten- and many more regions whose interactions hold lessons tion,the role of mammalian cerebellum in handling the for roboticists.We say this not to depress the reader, nonlinearities and time delays of flexible motor systems, but rather to encourage further exploration of the lit- and the mirror systems of primates in action recognition erature of computational neuroscience and to note that and of humans in imitation.There are many more crea-the exchange with neurorobotics proceeds both ways: tures with lessons to offer the roboticist than we can neuroscience can inspire novel robotic designs;con- sample here. versely,robots can be used to test whether brain models Moreover,if we just confine attention to the brains still work when they make the transition from disem- of humans,this Chapter has mentioned at least 7a,7b,bodied computer simulation to meeting the challenge of AIP,area 46,caudo-putamen,cerebellum,cIPS,F2,F4,guiding the interactions of a physically embodied system F5,hippocampus,hypothalamus,inferotemporal cortex, with the complexities of its environment. 62.6 Further Reading M.A.Arbib,(Ed.):From Action to Language via the lists some successful and-between the lines-more Mirror System (Cambridge Univ.Press,Cambridge unsuccessful applications thereof. 2006). V.Gallese,L.Fadiga,L.Fogassi,G.Rizzolatti: This volume provides 16 articles on the mirror sys-Action recognition in the premotor cortex.Brain 119, tem,written by diverse experts.Of particular relevance 593-609(1996) to this Chapter are articles on dynamical systems:brain, This paper provides a detailed account of the neu- body and imitation;attention and the minimal subscene; rophysiological evidence for mirror neurons.It is good the development of grasping and the mirror system;and reading to get the real data unbiased from further inter- development of goal-directed imitation,object manipu-pretation on the role of mirror neurons and it is complete lation and language in humans and robots. and accurate.Although it is a technical paper it is easy C.Bell,P.Cordo,S.Harnad:Controviersies in to read also to a general audience. neuroscience IV:motor learning and plasticity in L.Fadiga,L.Craighero,G.Buccino,G.Rizzolatti: the cerebellum.Behavioral and brain sciences 19(3),Speech listening specifically modulates the excitability (1996) of tongue muscles:a TMS study.Eur.J.Neurosci.15(2). This somewhat older BBS special issue provides 399-402(2002) what was,back then,a rather definitive number of arti- This work extends the mirror system concept with cles on the cerebellum,including an overview of models an interesting perspective on its role into into language. in a paper by Houk et al. This paper is interesting reading by providing evidence P.van der Smagt,D.Bullock:Applied intelligence,in humans (the other references above are about mon- Scalable Applications of Neural Networks to Robotics key experiments).In this case,it has been shown that Part 171),(2002). speech listening facilitates the activation of tongue mus- This special issue is focused on the application cles which match the specific phoneme being listened of cerebellar and other models to robotics tasks.and to. References 62.1 W.G.Walter:The Living Brain(Duckworth,London 62.2 V.Braitenberg:Vehicles:Experiments in Synthetic 1953),reprinted by Pelican Books,Harmondsworth, Psychology (Bradford Books/The MIT Press,Can- 1961 bridge 1984)Neurorobotics: From Vision to Action References 1475 We have sampled the design of just a few subsystems (both functional and structural) in just a few animals – optic flow in the bee, approach, escape, and barrier avoidance in frogs and toads, and navigation in the rat, as well as the control of eye movements in visual atten￾tion, the role of mammalian cerebellum in handling the nonlinearities and time delays of flexible motor systems, and the mirror systems of primates in action recognition and of humans in imitation. There are many more crea￾tures with lessons to offer the roboticist than we can sample here. Moreover, if we just confine attention to the brains of humans, this Chapter has mentioned at least 7a, 7b, AIP, area 46, caudo-putamen, cerebellum, cIPS, F2, F4, F5, hippocampus, hypothalamus, inferotemporal cortex, LIP, MIP, motor cortex, nucleus accumbens, parietal cor￾tex, prefrontal cortex, premotor cortex, pre-SMA (F6), spinal cord, STS, and VIP – and it is clear that there are many more details to be understood for each region, and many more regions whose interactions hold lessons for roboticists. We say this not to depress the reader, but rather to encourage further exploration of the lit￾erature of computational neuroscience and to note that the exchange with neurorobotics proceeds both ways: neuroscience can inspire novel robotic designs; con￾versely, robots can be used to test whether brain models still work when they make the transition from disem￾bodied computer simulation to meeting the challenge of guiding the interactions of a physically embodied system with the complexities of its environment. 62.6 Further Reading M.A. Arbib, (Ed.): From Action to Language via the Mirror System (Cambridge Univ. Press, Cambridge 2006). This volume provides 16 articles on the mirror sys￾tem, written by diverse experts. Of particular relevance to this Chapter are articles on dynamical systems: brain, body and imitation; attention and the minimal subscene; the development of grasping and the mirror system; and development of goal-directed imitation, object manipu￾lation and language in humans and robots. C. Bell, P. Cordo, S. Harnad: Controviersies in neuroscience IV: motor learning and plasticity in the cerebellum. Behavioral and brain sciences 19(3), (1996) This somewhat older BBS special issue provides what was, back then, a rather definitive number of arti￾cles on the cerebellum, including an overview of models in a paper by Houk et al. P. van der Smagt, D. Bullock: Applied intelligence, Scalable Applications of Neural Networks to Robotics 17(1), (2002). This special issue is focused on the application of cerebellar and other models to robotics tasks, and lists some successful and – between the lines – more unsuccessful applications thereof. V. Gallese, L. Fadiga, L. Fogassi, G. Rizzolatti: Action recognition in the premotor cortex. Brain 119, 593–609 (1996) This paper provides a detailed account of the neu￾rophysiological evidence for mirror neurons. It is good reading to get the real data unbiased from further inter￾pretation on the role of mirror neurons and it is complete and accurate. Although it is a technical paper it is easy to read also to a general audience. L. Fadiga, L. Craighero, G. Buccino, G. Rizzolatti: Speech listening specifically modulates the excitability of tongue muscles: a TMS study. Eur. J. Neurosci. 15(2), 399–402 (2002) This work extends the mirror system concept with an interesting perspective on its role into into language. This paper is interesting reading by providing evidence in humans (the other references above are about mon￾key experiments). In this case, it has been shown that speech listening facilitates the activation of tongue mus￾cles which match the specific phoneme being listened to. References 62.1 W.G. Walter: The Living Brain (Duckworth, London 1953), reprinted by Pelican Books, Harmondsworth, 1961 62.2 V. Braitenberg: Vehicles: Experiments in Synthetic Psychology (Bradford Books/The MIT Press, Can￾bridge 1984) Part G 62