publication . Article . Other literature type . 2013

Dynamical movement primitives: Learning attractor models for motor behaviors

Auke Jan Ijspeert; Jun Nakanishi; Heiko Hoffmann; Peter Pastor; Stefan Schaal;
Open Access English
  • Published: 01 Feb 2013
Abstract
<p>Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear systems is the focus of investigations, it is of equal importance to create goal-directed behavior (e.g., stable locomotion from a system of coupled oscillators under perceptual guidance). Modeling goal-directed behavior with nonlinear systems is, however, rather difficult due to the parameter sensitivity of these systems, their complex phase transitions in response to subtle parameter changes, and the diffi...
Subjects
free text keywords: /dk/atira/pure/subjectarea/asjc/2800/2805, Cognitive Neuroscience, Attractor, Dynamical systems theory, Limit cycle, Nonlinear system, Machine learning, computer.software_genre, computer, Robotics, Mathematics, Artificial intelligence, business.industry, business, Control theory, Motor control, Linear differential equation, Dynamical system
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publication . Article . Other literature type . 2013

Dynamical movement primitives: Learning attractor models for motor behaviors

Auke Jan Ijspeert; Jun Nakanishi; Heiko Hoffmann; Peter Pastor; Stefan Schaal;