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Programmable pattern generators


Conference Paper


This paper explores the idea to create complex human-like arm movements from movement primitives based on nonlinear attractor dynamics. Each degree-of-freedom of an arm is assumed to have two independent abilities to create movement, one through a discrete dynamic system, and one through a rhythmic system. The discrete system creates point-to-point movements based on internal or external target specifications. The rhythmic system can add an additional oscillatory movement relative to the current position of the discrete system. In the present study, we develop appropriate dynamic systems that can realize the above model, motivate the particular choice of the systems from a biological and engineering point of view, and present simulation results of the performance of such movement primitives. Implementation results on a Sarcos Dexterous Arm are discussed.

Author(s): Schaal, S. and Sternad, D.
Book Title: 3rd International Conference on Computational Intelligence in Neuroscience
Pages: 48-51
Year: 1998
Month: October
Day: 24-28

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Research Triangle Park, NC, Oct. 24-28
Cross Ref: p1135
Note: clmc
URL: http://www-clmc.usc.edu/publications/S/schaal-ICCIN1998.pdf


  title = {Programmable pattern generators},
  author = {Schaal, S. and Sternad, D.},
  booktitle = {3rd International Conference on Computational Intelligence in Neuroscience},
  pages = {48-51},
  address = {Research Triangle Park, NC, Oct. 24-28},
  month = oct,
  year = {1998},
  note = {clmc},
  crossref = {p1135},
  url = {http://www-clmc.usc.edu/publications/S/schaal-ICCIN1998.pdf},
  month_numeric = {10}