Synthesis and adaptation of effective motor synergies for the solution of reaching tasks

Cristiano Alessandro; Juan Pablo Carbajal; Andrea D'Avella

doi:10.1007/978-3-642-33093-3_4

Synthesis and adaptation of effective motor synergies for the solution of reaching tasks

Cristiano Alessandro, Juan Pablo Carbajal, Andrea D'Avella

Fondazione Santa Lucia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller output is defined as a linear combination of a small set of predefined actuations, termed synergies. The method can be interpreted from a developmental perspective, since it allows the agent to autonomously synthesize and adapt an effective set of synergies to new behavioral needs. This scheme greatly reduces the dimensionality of the control problem, while keeping a good performance level. The framework is evaluated in a planar kinematic chain, and the quality of the solutions is quantified in several scenarios.

Original language	English
Title of host publication	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages	33-43
Number of pages	11
Volume	7426 LNAI
DOIs	https://doi.org/10.1007/978-3-642-33093-3_4
Publication status	Published - 2012
Event	12th International Conference on Simulation of Adaptive Behavior, SAB 2012 - Odense, Denmark Duration: Aug 27 2012 → Aug 30 2012

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	7426 LNAI
ISSN (Print)	03029743
ISSN (Electronic)	16113349

Other

Other	12th International Conference on Simulation of Adaptive Behavior, SAB 2012
Country/Territory	Denmark
City	Odense
Period	8/27/12 → 8/30/12

Keywords

development
motor control
motor primitives

ASJC Scopus subject areas

Computer Science(all)
Theoretical Computer Science

Access to Document

10.1007/978-3-642-33093-3_4

Cite this

Alessandro, C., Carbajal, J. P., & D'Avella, A. (2012). Synthesis and adaptation of effective motor synergies for the solution of reaching tasks. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7426 LNAI, pp. 33-43). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7426 LNAI). https://doi.org/10.1007/978-3-642-33093-3_4

Synthesis and adaptation of effective motor synergies for the solution of reaching tasks. / Alessandro, Cristiano; Carbajal, Juan Pablo; D'Avella, Andrea.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI 2012. p. 33-43 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7426 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Alessandro, C, Carbajal, JP & D'Avella, A 2012, Synthesis and adaptation of effective motor synergies for the solution of reaching tasks. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 7426 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7426 LNAI, pp. 33-43, 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, 8/27/12. https://doi.org/10.1007/978-3-642-33093-3_4

Alessandro C, Carbajal JP, D'Avella A. Synthesis and adaptation of effective motor synergies for the solution of reaching tasks. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI. 2012. p. 33-43. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-33093-3_4

Alessandro, Cristiano ; Carbajal, Juan Pablo ; D'Avella, Andrea. / Synthesis and adaptation of effective motor synergies for the solution of reaching tasks. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI 2012. pp. 33-43 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Synthesis and adaptation of effective motor synergies for the solution of reaching tasks

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Keywords

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