Reciprocal excitation between biological and robotic research

Stefan Schaal; Dagmar Sternad; William Dean; Shinya Kotosaka; Rieko Osu; Mitsuo Kawato

doi:10.1117/12.403706

16 October 2000 Reciprocal excitation between biological and robotic research

Stefan Schaal, Dagmar Sternad, William Dean, Shinya Kotosaka, Rieko Osu, Mitsuo Kawato

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403706
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

Citation Download Citation

Stefan Schaal, Dagmar Sternad, William Dean, Shinya Kotosaka, Rieko Osu, and Mitsuo Kawato "Reciprocal excitation between biological and robotic research", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403706

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