Generation of synergies for reaching based on interpolation properties of their dynamic responses

TitleGeneration of synergies for reaching based on interpolation properties of their dynamic responses
Publication TypeConference Paper
Year of Publication2012
AuthorsAlessandro, C, Carbajal, JP, d'Avella, A
Conference NameFrom Animals to Animats 12: Proceedings 12th International Conference on Simulation of adaptive behavior
PublisherSpringer Berlin Heidelberg
Conference LocationOdense, Denmark
KeywordsSLF, University of Zurich, WP3-Morphological-Computation
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 redefined 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.

URLhttp://arxiv.org/abs/1205.3668v1
DOI10.1007/978-3-642-33093-3

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