Smart Structures and Systems
Volume 7, Number 3, 2011, pages 169-184
DOI: 10.12989/sss.2011.7.3.169
Biomimetic control for redundant and high degree of freedom limb systems: neurobiological modularity
Simon F. Giszter , Corey B. Hart
Abstract
We review the current understanding of modularity in biological motor control and its forms, and then relate this modularity to proposed modular control structures for biomimetic robots. We note the features that are different between the robotic and the biological
Key Words
motor primitives; synergies; pattern generators; stability; hierarchy; modularity; degrees of freedom.
Address
- Simon F. Giszter — Neurobiology and Anatomy, Drexel University College of Medicine, USA
- Corey B. Hart — Neurobiology and Anatomy, Drexel University College of Medicine, USA
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