Submitted by kmec on
Title | Generation of synergies for reaching based on interpolation properties of their dynamic responses |
Publication Type | Conference Paper |
Year of Publication | 2012 |
Authors | Alessandro, C, Carbajal, JP, d'Avella, A |
Conference Name | From Animals to Animats 12: Proceedings 12th International Conference on Simulation of adaptive behavior |
Publisher | Springer Berlin Heidelberg |
Conference Location | Odense, Denmark |
Keywords | SLF, 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. |
URL | http://arxiv.org/abs/1205.3668v1 |
DOI | 10.1007/978-3-642-33093-3 |