A kinodynamic planning-learning algorithm for complex robot motor control

2012 ◽  
Author(s):  
Javier Gonzalez-Quijano ◽  
Mohamed Abderrahim ◽  
Fernando Fernandez ◽  
Choukri Bensalah
Keyword(s):  
Motor Control ◽  
Learning Algorithm

scholarly journals Combining Modalities with Different Latencies for Optimal Motor Control

2008 ◽  
Vol 20 (11) ◽  
pp. 1966-1979 ◽  
Author(s):  
Fredrik Bissmarck ◽  
Hiroyuki Nakahara ◽  
Kenji Doya ◽  
Okihide Hikosaka
Keyword(s):  
Motor Control ◽  
Feedback Loop ◽  
Learning Algorithm ◽  
Critical Factor ◽  
Motor Tasks ◽  
Computational Framework ◽  
Overall Performance ◽  
And Control ◽  
Optimal Motor Control

Feedback signals may be of different modality, latency, and accuracy. To learn and control motor tasks, the feedback available may be redundant, and it would not be necessary to rely on every accessible feedback loop. Which feedback loops should then be utilized? In this article, we propose that the latency is a critical factor to determine which signals will be influential at different learning stages. We use a computational framework to study the role of feedback modules with different latencies in optimal motor control. Instead of explicit gating between modules, the reinforcement learning algorithm learns to rely on the more useful module. We tested our paradigm for two different implementations, which confirmed our hypothesis. In the first, we examined how feedback latency affects the competitiveness of two identical modules. In the second, we examined an example of visuomotor sequence learning, where a plastic, faster somatosensory module interacts with a preacquired, slower visual module. We found that the overall performance depended on the latency of the faster module alone, whereas the relative latency determines the independence of the faster from the slower. In the second implementation, the somatosensory module with shorter latency overtook the slower visual module, and realized better overall performance. The visual module played different roles in early and late learning. First, it worked as a guide for the exploration of the somatosensory module. Then, when learning had converged, it contributed to robustness against system noise and external perturbations. Overall, these results demonstrate that our framework successfully learns to utilize the most useful available feedback for optimal control.

Physiologic Studies Provide New Perspectives on Early Speech Development

2010 ◽  
Vol 20 (2) ◽  
pp. 29-36
Author(s):  
Erin M. Wilson ◽  
Ignatius S. B. Nip
Keyword(s):  
Motor Control ◽  
Motor Development ◽  
Motion Tracking ◽  
Speech Development ◽  
Speech Motor Control ◽  
Therapeutic Approaches ◽  
Facial Motion ◽  
Disordered Speech ◽  
Speech Motor ◽  
Physiologic Data

Abstract Although certain speech development milestones are readily observable, the developmental course of speech motor control is largely unknown. However, recent advances in facial motion tracking systems have been used to investigate articulator movements in children and the findings from these studies are being used to further our understanding of the physiologic basis of typical and disordered speech development. Physiologic work has revealed that the emergence of speech is highly dependent on the lack of flexibility in the early oromotor system. It also has been determined that the progression of speech motor development is non-linear, a finding that has motivated researchers to investigate how variables such as oromotor control, cognition, and linguistic factors affect speech development in the form of catalysts and constraints. Physiologic data are also being used to determine if non-speech oromotor behaviors play a role in the development of speech. This improved understanding of the physiology underlying speech, as well as the factors influencing its progression, helps inform our understanding of speech motor control in children with disordered speech and provide a framework for theory-driven therapeutic approaches to treatment.

Hemispheric communication in motor control

2009 ◽  
Author(s):  
Robert M. Kohl ◽  
Raymond W. McCoy ◽  
Jacob K. Mutch
Keyword(s):  
Motor Control ◽  
Hemispheric Communication
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