Related papers: Left/Right Brain, human motor control and the impl…
The brains of all bilaterally symmetric animals on Earth are divided into left and right hemispheres. The anatomy and functionality of the hemispheres have a large degree of overlap, but there are asymmetries, and they specialise in…
We argue that the direct experimental approaches to elucidate the architecture of higher brains may benefit from insights gained from exploring the possibilities and limits of artificial control architectures for robot systems. We present…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Designing brain-computer interfaces (BCIs) that can be used in conjunction with ongoing motor behavior requires an understanding of how neural activity co-opted for brain control interacts with existing neural circuits. For example, BCIs…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Today the human brain can be modeled as a graph where nodes represent different regions and links stand for statistical interactions between their activities as recorded by different neuroimaging techniques. Empirical studies have lead to…
In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…
Coupled human balancing tasks are investigated based on both pseudo-neural controllers characterized by time-delayed feedback with random gain and natural human balancing tasks. It is shown numerically that, compared to single balancing…
A hallmark of biological intelligence and control is combinatorial generalization: animals are able to learn various things, then piece them together in new combinations to produce appropriate outputs for new tasks. Inspired by the ability…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
A central question for the future of work is whether person centered management can survive when algorithms take on managerial roles. Standard tools often miss what is happening because worker responses to algorithmic systems are rarely…
The links between optimal control of dynamical systems and neural networks have proved beneficial both from a theoretical and from a practical point of view. Several researchers have exploited these links to investigate the stability of…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also feature bilateral symmetry-should similarly exploit this property…
Sophisticated multilayer neural networks have achieved state of the art results on multiple supervised tasks. However, successful applications of such multilayer networks to control have so far been limited largely to the perception portion…
Bilateral control, a remote-control technique, is used to work at a distance. However, many existing bilateral control systems have two common problems: 1) it is difficult to create a system like a human hand, that has multiple degrees of…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and…