Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator.

Sang-Ho Hyon Jun Morimoto Gordon Cheng

Published in: ICRA (2008)

Keyphrases

motor learning
impedance control
sliding mode
limit cycle
feedback loop
trajectory tracking
control system
closed loop
variable structure
central pattern generator
neural network
control scheme
control method
human brain
control strategy
skill acquisition
optimal control
decision making