Hierarchical optimal control of redundant biomechanical systems Export

@proceedings{citeulike:275637, abstract = {Sensorimotor control occurs simultaneously on multiple levels. We present a general approach to designing feedback control hierarchies for redundant biomechanical systems, that approximate the (non-hierarchical) optimal control law but have much lower computational demands. The approach is applied to the task of reaching, using a detailed model of the human arm. Our hierarchy has two levels of feedback control. The high level is designed as an optimal feedback controller operating on a simplified virtual plant. The low level is responsible for transforming the dynamics of the true plant into the desired virtual dynamics. The new method may be useful not only for modelling the neural control of movement, but also for designing functional electric stimulation systems that have to achieve task goals by activating muscles in real time.}, author = {Li, Weiwei and Todorov, E. and Pan, Xiuchuan}, citeulike-article-id = {275637}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1404280}, journal = {Engineering in Medicine and Biology Society, 2004. EMBC 2004. Conference Proceedings. 26th Annual International Conference of the}, keywords = {control, hierarchical, optimal}, pages = {4618--4621 Vol.6}, posted-at = {2007-10-02 11:19:59}, priority = {2}, title = {Hierarchical optimal control of redundant biomechanical systems}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1404280}, volume = {2}, year = {2004} }

TY - CONF ID - citeulike:275637 L3 - citeulike-article-id:275637 N2 - Sensorimotor control occurs simultaneously on multiple levels. We present a general approach to designing feedback control hierarchies for redundant biomechanical systems, that approximate the (non-hierarchical) optimal control law but have much lower computational demands. The approach is applied to the task of reaching, using a detailed model of the human arm. Our hierarchy has two levels of feedback control. The high level is designed as an optimal feedback controller operating on a simplified virtual plant. The low level is responsible for transforming the dynamics of the true plant into the desired virtual dynamics. The new method may be useful not only for modelling the neural control of movement, but also for designing functional electric stimulation systems that have to achieve task goals by activating muscles in real time. JF - Engineering in Medicine and Biology Society, 2004. EMBC 2004. Conference Proceedings. 26th Annual International Conference of the EP - 4621 Vol.6 TI - Hierarchical optimal control of redundant biomechanical systems VL - 2 SP - 4618 KW - control KW - hierarchical KW - optimal AU - Li, Weiwei AU - Todorov, E AU - Pan, Xiuchuan PY - 2004/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1404280 ER -