Cerebellar Model Articulation Controller (CMAC)

This respository contains code to implement CMAC architecture introduced in the paper "A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)" by J. S in 1975. Albus. The model has been trained to learn the function for 2-D parabolic curve. There are two variants of the architecture: Dicrete and continuous and both have been implemented.

Requirement:

Python 2.0 or above

Instructions to run the code:

python cmac.py

Results