Optimal feedback control as a theory of motor coordination

@article{Todorov2002OptimalFC,
  title={Optimal feedback control as a theory of motor coordination},
  author={Emanuel Todorov and Michael I. Jordan},
  journal={Nature Neuroscience},
  year={2002},
  volume={5},
  pages={1226-1235}
}
A central problem in motor control is understanding how the many biomechanical degrees of freedom are coordinated to achieve a common goal. An especially puzzling aspect of coordination is that behavioral goals are achieved reliably and repeatedly with movements rarely reproducible in their detail. Existing theoretical frameworks emphasize either goal achievement or the richness of motor variability, but fail to reconcile the two. Here we propose an alternative theory based on stochastic… 
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