TY - GEN
T1 - Iterative learning control as a framework for human-inspired control with bio-mimetic actuators
AU - Angelini, Franco
AU - Bianchi, Matteo
AU - Garabini, Manolo
AU - Bicchi, Antonio
AU - Santina, Cosimo Della
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2020.
PY - 2021
Y1 - 2021
N2 - The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to fully exploit the new possibilities provided by these systems. In this paper, we test experimentally that an Iterative Learning Control algorithm can be used to reproduce functionalities of the human central nervous system - i.e. learning by repetition, after-effect on known trajectories and anticipatory behavior - while controlling a bio-mimetically actuated robotic arm.
AB - The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to fully exploit the new possibilities provided by these systems. In this paper, we test experimentally that an Iterative Learning Control algorithm can be used to reproduce functionalities of the human central nervous system - i.e. learning by repetition, after-effect on known trajectories and anticipatory behavior - while controlling a bio-mimetically actuated robotic arm.
KW - Human-inspired control
KW - Motion and motor control
KW - Natural machine motion
UR - https://www.scopus.com/pages/publications/85107297658
U2 - 10.1007/978-3-030-64313-3_2
DO - 10.1007/978-3-030-64313-3_2
M3 - Conference contribution
AN - SCOPUS:85107297658
SN - 9783030643126
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 12
EP - 16
BT - Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
A2 - Vouloutsi, Vasiliki
A2 - Mura, Anna
A2 - Verschure, Paul F. M. J.
A2 - Tauber, Falk
A2 - Speck, Thomas
A2 - Prescott, Tony J.
PB - Springer Science and Business Media Deutschland GmbH
T2 - 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
Y2 - 28 July 2019 through 30 July 2019
ER -