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Synthesis and Adaptation of Effective Motor Synergies for the Solution of Reaching Tasks

  • Cristiano Alessandro
  • Juan Pablo Carbajal
  • Andrea d’Avella
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7426)

Abstract

Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller output is defined as a linear combination of a small set of predefined actuations, termed synergies. The method can be interpreted from a developmental perspective, since it allows the agent to autonomously synthesize and adapt an effective set of synergies to new behavioral needs. This scheme greatly reduces the dimensionality of the control problem, while keeping a good performance level. The framework is evaluated in a planar kinematic chain, and the quality of the solutions is quantified in several scenarios.

Keywords

motor primitives motor control development 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Cristiano Alessandro
    • 1
  • Juan Pablo Carbajal
    • 1
  • Andrea d’Avella
    • 2
  1. 1.Artificial Intelligence LaboratoryUniversity of ZürichSwitzerland
  2. 2.Laboratory of Neuromotor PhysiologyFondazione Santa LuciaItaly

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