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Proceedings Paper

Reciprocal excitation between biological and robotic research
Author(s): Stefan Schaal; Dagmar Sternad; William Dean; Shinya Kotosaka; Rieko Osu; Mitsuo Kawato
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Paper Abstract

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

Paper Details

Date Published: 16 October 2000
PDF: 12 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403706
Show Author Affiliations
Stefan Schaal, ERATO/Japan Science and Technology Corp. (United States)
Dagmar Sternad, The Pennsylvania State Univ. (United States)
William Dean, The Pennsylvania State Univ. (United States)
Shinya Kotosaka, ERATO/Japan Science and Technology Corp. (Japan)
Rieko Osu, ERATO/Japan Science and Technology Corp. (Japan)
Mitsuo Kawato, ERATO/Japan Science and Technology Corp. (Japan)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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