Hierarchical feedback and learning for multi-joint arm movement control

被引：0
|
作者：
Li, Weiwei [1 ]
Todorov, Emanuel [1 ]
Pan, Xiuchuan [1 ]
机构：
[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA
来源：
2005 27TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-7 | 2005年
关键词：
D O I：
暂无
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
This paper presents a general method for hierarchical feedback control of redundant systems, and applies it to the problem of arm movement control. A high-level feedback controller, designed using optimal control techniques, operates on a simplified virtual plant. A low-level controller is responsible for performing a feedback transformation of the physical plant into the desired virtual plant. The method is applied in the context of reaching with two realistic models of the human arm: a 2-DOF, 6-muscle model, and a 7-DOF, 14-muscle model. Simulation results demonstrate the effectiveness of the proposed scheme.
引用
收藏
页码：4400 / 4403
页数：4
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