A robot model of the basal ganglia: Behavior and intrinsic processing

The existence of multiple parallel loops connecting sensorimotor systems to the basal ganglia has given rise to proposals that these nuclei serve as a selection mechanism resolving competitions between the alternative actions available in a given context. A strong test of this hypothesis is to require a computational model of the basal ganglia to generate integrated selection sequences in an autonomous agent, we therefore describe a robot architecture into which such a model is embedded, and require it to control action selection in a robotic task inspired by animal observations. Our results demonstrate effective action selection by the embedded model under a wide range of sensory and motivational conditions. When confronted with multiple, high salience alternatives, the robot also exhibits forms of behavioral disintegration that show similarities to animal behavior in conflict situations. The model is shown to cast light on recent neurobiological findings concerning behavioral switching and sequencing

The interaction of recurrent axon collateral networks in the basal ganglia

We have proposed that the basal ganglia act as the central switching mechanism for the action selection system of the vertebrate brain. Simulation of our functional model of basal ganglia demonstrated that their output was consistent with this action selection hypothesis. Here we extend this model by incorporating anatomically-inspired local inhibitory axon collateral networks into two basal ganglia nuclei (globus pallidus and substantia nigra pars reticulata). Through simulation it is demonstrated that the basal ganglia’s ability to function as a selection mechanism is impaired by the individual addition of the collateral networks but slightly improved when they co-exist. Therefore, we predict the existence of local axon collaterals in the entopeduncular nucleus because of its functional equivalence with the substantia nigra pars reticulata.We conclude that the action selection hypothesis is supported by the continued functioning of the basal ganglia model as a switching mechanism following appropriate anatomically-inspired additions