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We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two concurrent dynamical systems acting on...
Object grasping is a typical human ability which is widely studied from both a biological and an engineering point of view. This paper presents an approach to grasp synthesis inspired by the human neurophysiology of action-oriented vision. Our grasp synthesis method is built upon an architecture...
This paper presents a robot architecture with spatial cognition and navigation capabilities that captures some properties of the rat brain structures involved in learning and memory. This architecture relies on the integration of kinesthetic and visual information derived from artificial...
In the kinematic realm, wheeled robot’s determining characteristic lies in its nonholonomic constraint. Indeed, the wheels of the robot unequivocally force the robot vehicle to move tangentially to its main axis. Here we test the hypothesis that human locomotion can also be partly described by...
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