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Smart Structures and Systems Volume 7, Number 3, March 2011 , pages 169-184 DOI: https://doi.org/10.12989/sss.2011.7.3.169 |
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Biomimetic control for redundant and high degree of freedom limb systems: neurobiological modularity |
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Simon F. Giszter and Corey B. Hart
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| 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 | ||