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Optimal Feedback Control for Anthropomorphic Manipulators
We study target reaching tasks of redundant anthropomorphic manipulators under the premise of minimal energy consumption and compliance during motion. We formulate this motor control problem in the framework of ...
Methods for Learning Control Policies from Variable Constraint Demonstrations
Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the task or the environment. Constraints are usually not observable and frequently change between contexts. In ...
Adaptive Optimal Feedback Control with Learned Internal Dynamics Models
Optimal Feedback Control (OFC) has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. Recent developments, such as the Iterative Linear Quadratic ...
A Computational Model of Limb Impedance Control Based on Principles of Internal Model Uncertainty
Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is ...