Motor Control Overview Feedback Control PID Position control parameter PID Integral control parameter PID Derivative control parameter Formal Optimal Control Droll et alJEP 2003 Human Eye Movements use five principal strategies for stabilizing gaze saccades vergence pursuit VOR OKN SARCOS Hydraulic torso Control signal oil 3000 lb cu inch No compliance 10KHz per dof PUMA 6 dof arm with Utah pneumatic hand Wt 1 ton Payload 5kg 200 1 Cf Human Wt 100 Kg Payload 50Kg 2 1 Passive energy storage Mechanical compliance Gomi and Kawato Bio Cybern 76 163 171 1997 Walking Profile Comparison Human data from Boston dynamics Hip Model simulation data Knee Ankle Passive walking with tripping Droll et alJEP 2003 Every fixation has a specific purpose Droll et alJEP 2003 Every fixation has a specific purpose Droll et alJEP 2003 Iyer 2010 Neural Control of Momement Iyer Ballard 2009BioRob Conference Basis function 1 1 0 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 Basis function 2 0 7 0 8 0 9 1 0 0 1 0 2 0 3 0 4 0 5 0 6 Basis function 3 0 7 0 8 0 9 1 0 0 1 0 2 0 3 0 4 0 7 0 8 0 9 1 1 0 1 1 0 1 0 5 0 6 Reconstruction using Gabor like basis functions Original and Reconstructed signals 0 52 Original Reconstructed Length m 0 51 0 5 0 49 0 48 0 47 0 46 0 0 5 1 0 5 1 1 5 2 1 5 2 Frequency Hz 6 8 5 6 4 2 2 8 1 4 0 Time Hz
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