Related papers: A model of reaching via subriemannian geodesics in…
We develop a neurogeometric model for the arm area of motor cortex, which encodes complex motor primitives, ranging from simple movement features like movement direction, to short hand trajectories, termed fragments, and ultimately to more…
In this paper we propose a neurogeometrical model of the behaviour of cells of the arm area of the primary motor cortex (M1). We mathematically express the hypercolumnar organization of M1 discovered by Georgopoulos, as a fiber bundle, as…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
In this paper we propose a neurogeometrical model of the behaviour of cells of the arm area of the primary motor cortex (M1). We will mathematically express as a fiber bundle the hypercolumnar organization of this cortical area, first…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
We study random walks on sub-Riemannian manifolds using the framework of retractions, i.e., approximations of normal geodesics. We show that such walks converge to the correct horizontal Brownian motion if normal geodesics are approximated…
We present a neuro-mathematical model for geometrical optical illusions (GOIs), a class of illusory phenomena that consists in a mismatch of geometrical properties of the visual stimulus and its associated percept. They take place in the…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
We consider $H$(eisenberg)-type groups whose law of left translation gives rise to a bracket generating distribution of step 2. In the contrast with sub-Riemannian studies we furnish the horizontal distribution with a nondegenerate…
In this note, we show that sub-Riemannian manifolds can contain branching normal minimizing geodesics. This phenomenon occurs if and only if a normal geodesic has a discontinuity in its rank at a non-zero time, which in particular for a…
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…
This study aimed to develop daily living support robots for patients with hemiplegia and the elderly. To support the daily living activities using robots in ordinary households without imposing physical and mental burdens on users, the…
We develop a geometric convergence theory for neural-network optimization within the minimizing movement scheme (MMS) framework. Reformulating each neural MMS step as a minimization over the set of increments in a Hilbert space, we show…
We present a computational model that highlights the role of basal ganglia (BG) in generating simple reaching movements. The model is cast within the reinforcement learning (RL) framework with the correspondence between RL components and…
We provide a new and simple system of equations for the normal sub-Riemannian geodesics. These use a partial connection that we show is canonically available, given a choice of complement to the distribution. We also describe conditions…
In the present paper we show that the geodesic flows of a sub-Riemannian metric and that of a Riemannian extension commute if and only if the extended metric is parallel with respect to a certain connection. This helps us to describe the…
This paper advocates a novel framework for segmenting a dataset in a Riemannian manifold $M$ into clusters lying around low-dimensional submanifolds of $M$. Important examples of $M$, for which the proposed clustering algorithm is…
Motor cortex (M1) is a crucial brain area for controlling voluntary movements, such as reaching and grasping for a cup of coffee. M1 is organized in a somatotopic manner, such that M1 output driving movement to different parts of the body…
We describe homogeneous sub-Riemannian geodesics for the standard sub-Riemannian structure on the group of proper motions of the plane SE(2). We show that this structure is not geodesically orbital, although the cut time is invariant w.r.t.…