A block diagram of a typical CMAC i

A block diagram of a typical CMAC is shown in Fig. 1. CMAC modules are designed to accept both input command variables from higher levels and feedback variables from sensors. Each CMAC merges these two inputs into a set of memory addresses wherein are stored the correct motor response. The combined input selects a set of memory locations from a large pool of
memory locations. The output is the sum of the contents