Motor Control OverviewFeedback ControlPID: Position control parameterPID: Integral control parameterPID: Derivative control parameterDroll et alJEP 2003 Formal Optimal ControlHuman Eye Movements use five principal strategies for stabilizing gaze saccades pursuit vergence VOR OKNNo compliance ! 10KHz per dof ! SARCOS Hydraulic torso Control signal: oil @ 3000 lb/cu inchPUMA 6 dof arm with Utah pneumatic hand Wt 1 ton Payload 5kg 200::1 Cf Human Wt 100 Kg Payload 50Kg 2::1Passive energy storage Mechanical complianceGomi and Kawato Bio Cybern 76 163-171 1997Walking Profile Comparison Human data from Boston dynamics Model simulation data Hip! Knee!Ankle!Droll et alJEP 2003 Passive walking with trippingDroll et alJEP 2003 Every fixation has a specific purposeDroll et alJEP 2003 Every fixation has a specific purposeIyer(2010) Neural Control of Momement Iyer & Ballard (2009BioRob Conference0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 100.51Basis function 10 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1−101Basis function 20 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1−101Basis function 30 0.5 1 1.5 20.460.470.480.490.50.510.52Length (m)Original and Reconstructed signals 0 0.5 1 1.5 21.42.84.25.66.8Time (Hz)Frequency (Hz) OriginalReconstructedReconstruction using Gabor-like basis
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