Dynamic primitives in the control of locomotion

@inproceedings{Hogan2013DynamicPI,
  title={Dynamic primitives in the control of locomotion},
  author={Neville Hogan and Dagmar Sternad},
  booktitle={Front. Comput. Neurosci.},
  year={2013}
}
Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors, and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete… CONTINUE READING
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Dynamic primitives in the control of locomotion

  • N Citation Hogan, D Sternad
  • Front. Comput. Neurosci. 7:71
  • 2013

This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits use, distribution and repro

  • Hogan, Sternad
  • 2013

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