Hierarchical Feedback and Learning for Multi-joint Arm Movement Control

This paper presents a general method for hierarchical feedback control of redundant systems, and applies it to the problem of arm movement control. A high-level feedback controller, designed using optimal control techniques, operates on a simplified virtual plant. A low-level controller is responsible for performing a feedback transformation of the physical plant into the desired virtual plant. The method is applied in the context of reaching with two realistic models of the human arm: a 2-DOF, 6-muscle model, and a 7-DOF, 14-muscle model. Simulation results demonstrate the effectiveness of the proposed scheme

[1]  Emanuel Todorov,et al.  From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators , 2005 .

[2]  G. E. Loeb,et al.  A hierarchical foundation for models of sensorimotor control , 1999, Experimental Brain Research.

[3]  P Herberts,et al.  Biomechanical model of the human shoulder--I. Elements. , 1987, Journal of biomechanics.

[4]  E. Todorov,et al.  A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems , 2005, Proceedings of the 2005, American Control Conference, 2005..

[5]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[6]  N. A. Bernshteĭn.  The co-ordination and regulation of movements , 1967 .

[7]  A E Engin,et al.  On the biomechanics of human shoulder complex--I. Kinematics for determination of the shoulder complex sinus. , 1987, Journal of biomechanics.

[8]  Emanuel Todorov,et al.  Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems , 2004, ICINCO.

[9]  F. V. D. van der Helm.  A finite element musculoskeletal model of the shoulder mechanism. , 1994, Journal of biomechanics.

[10]  M G Pandy,et al.  Musculoskeletal Model of the Upper Limb Based on the Visible Human Male Dataset , 2001, Computer methods in biomechanics and biomedical engineering.

[11]  Chee-Meng Chew,et al.  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..

[12]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[13]  WALTER Maurel,et al.  A Case Study on Human Upper Limb Modelling for Dynamic Simulation. , 1999, Computer methods in biomechanics and biomedical engineering.

[14]  Emanuel Todorov,et al.  From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators , 2005, J. Field Robotics.