Neural control of rhythmic arm movements

Neural Networks

Volumn 11, Issue 7-8, 1998, Pages 1379-1394

  Williamson, Matthew M ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Neural control; Neural network; Oscillator; Rhythmic movement; Robot manipulator

Indexed keywords

BEHAVIORAL RESEARCH; NEURAL NETWORKS; PENDULUMS; ROBOTS;

RHYTHMIC MOVEMENTS;

MANIPULATORS;

ARM MOVEMENT; ARTIFICIAL NEURAL NETWORK; MICROMANIPULATOR; MOTOR CONTROL; OSCILLATOR; PRIORITY JOURNAL; REVIEW; ROBOTICS;

EID: 0032191803     PISSN: 08936080     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0893-6080(98)00048-3     Document Type: Article

References (46)

1. Adamovich S.V., Levin M.F., Feldman A.G. Merging different motor patterns: coordination between rhythmical and discrete single-joint movements. Experimental Brain Research. 99:1994;325-337.
2. An, C. H., Atkeson, C. G., & Hollerbach, J. M. (1988). Model-based control of a robot manipulator. Cambridge, MA: MIT Press.
3. Bernstein, N. A. (1935). The problem of the interrelation of co-ordination and localization. Archives of the biological sciences, 38.
4. Bingham G.P., Schmidt R.C., Rosenblum L.D. Hefting for a maximum distance throw: a smart perceptual mechanism. Journal of Experimental Psychology: Human Perception and Performance. 15(3):1989;507-528.
5. Bingham G.P., Schmidt R.C., Turvey M.T., Rosenblum L.D. Task dynamics and resource dynamics in the assembly of a coordinated rhythmic activity. Journal of Experimental Psychology: Human Perception and Performance. 17(2):1991;359-381.
6. Bizzi E., Mussa-Ivaldi F.A., Giszter S.F. Computations underlying the execution of movement: a biological perspective. Science. 253:1991;287-291.
7. Brooks R.A., Stein L.A. Building brains for bodies. Autonomous Robots. 1(1):1994;7-25.
8. Buchanan J.J., Kelso J.A.S. Order parameters for the neural organization of single, multijoint limb movement patterns. Experimental Brain Research. 94:1993;131-142.
9. Colgate, E., & Hogan, N. (1989). An analysis of contact instability in terms of passive equivalents. In Proceedings of the 1989 IEEE international conference on robotics and automation (pp. 404-409).
10. Collins J.J., Richmond S.A. Hard-wired central pattern generators for quadrupedal locomotion. Biological Cybernetics. 71:1994;375-385.
11. Craig, J. J. (1989). Introduction to robotics: Mechanics and control (2nd ed). Reading, MA: Addison-Wesley.
12. Deacon, G. E. (1997). Accomplishing task-invariant assembly strategies by means of an inherently accommodating robot arm. Ph.D. thesis, Department of Artificial Intelligence, University of Edinburgh, Scotland.
13. Elias S., Grossberg S. Pattern formation, contrast control and oscillations in the short term memory of shunting on-center off-surround networks. Biological Cybernetics. 20:1975;69-98.
14. Getting, P. A. (1988). Comparative analysis of invertebrate central pattern generators. In A. H. Cohen, S. Rossignol, & S. Grillner (Eds.), Neural control of rhythmic movements in vertebrates (pp. 101-127). New York: Wiley.
15. Greene P.H. Why is it easy to control your arms? Journal of Motor Behavior. 14(4):1982;260-286.
16. Grillner S., Wallén P., Brodin L. Neuronal network generating locomotor behavior in lamprey: circuitry, transmitters, membrane properties and simulation. Annual Review of Neuroscience. 14:1991;169-199.
17. Hatsopoulos N.G. Coupling the neural and physical dynamics in rhythmic movements. Neural Computation. 8:1996;567-581.
18. Hatsopoulos N.G., Warren W.H. Resonance tuning in rhythmic arm movements. Journal of Motor Behavior. 28(1):1996;3-14.
19. Hatsopoulos, N. G., Warren, W. H., & Sanes, J. N. (1992). A neural pattern generator that tunes into the physical dynamics of the limb system. In Proceedings of the international joint conference on neural networks (Vol. 1, pp. 104-109). Baltimore, MD.
20. Herr, H. (1993). Human powered elastic mechanisms. Master's thesis, Massachusetts Institute of Technology, Cambridge, MA.
21. Hogan N. Impedance control: an approach to manipulation. Journal of Dynamic Systems, Measurement, and Control. 107:1985;1-24.
22. Hogan N. The mechanics of multi-joint posture and movement control. Biological Cybernetics. 52:1985;315-331.
23. Hollerbach J.M., Flash T. Dynamic interactions between limb segments during planar arm movement. Biological Cybernetics. 44:1982;67-77.
24. Kahle, W., Leonhardt, H., & Platzer, W. (1992). Locomotor system (Vol. 1 of Color Atlas and Textbook of Human Anatomy). New York: Thieme Medical Publishers.
25. Kawato, M. (1990). Feedback-error-learning neural network for supervised motor learning. In R. Eckmiller (Ed.), Advanced Neural Computers (pp. 365-372). Elsevier: Amsterdam.
26. Kay B.A., Kelso J.A.S., Saltzman E.L., Schbner G.S. The space-time behavior of single and bimanual movements: data and model. Journal of Experimental Psychology: Human Perception and Performance. 13:1987;178-192.
27. Kugler, P. N., & Turvey, M. T. (1987). Information, natural law and the self-assembly of rhythmic movement. Hillsdale, NJ: Erlbaum.
28. Marjanovic, M. J., Scassellati, B., & Williamson, M. M. (1996). Self-taught visually-guided pointing for a humanoid robot. In From animals to animats: Proceedings 1996 Society of Adaptive Behaviour. Society of Adaptive Behavior.
29. Mason, M. T., & Lynch, K. M. (1993). Dynamic manipulation. In Proceedings of the lEEEIRV international workshop on intelligent robots and systems (IROS-93) (pp. 152-159). Yokohama, Japan.
30. Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaption. Biological Cybernetics. 52:1985;367-376.
31. Matsuoka K. Mechanisms of frequency and pattern control in neural rhythm generators. Biological Cybernetics. 56:1987;345-353.
32. McGeer, T. (1990). Passive walking with knees. In Proceedings 1990 IEEE international conference on robotics and automation.
33. Mussa-Ivaldi F.A., Giszter S.F., Bizzi E. Linear combinations of primitives invertebrate motor control. Proceedings of the National Academy of Sciences. 91:1994;7534-7538.
34. Niemeyer, G., & Slotine, J.-J. E. (1997). A simple strategy for opening an unknown door. In Proceedings of 1997 YEE international conference on robotics and automation (pp. 1448-1453).
35. Pratt, G. A., & Williamson, M. M. (1995). Series elastic actuators. In Proceedings of the IEEEIRV international conference on intelligent robots and systems (IROS-95) (Vol. 1, pp. 399-406). Pittsburg, PA.
36. Pribe C., Grossberg S., Cohen M.A. Neural control of interlimb oscillations. II. Biped and quadruped gaits and bifurcations. Biological Cybernetics. 77:1997;141-152.
37. Raibert M.H., Craig J.J. Hybrid position/force control of manipulators. Journal of Dynamic Systems, Measurement, and Control. 103:1981;126-133.
38. Schaal, S., & Atkeson, C. G. (1993). Open loop stable control strategies for robot juggling. In Proceedings 1993 IEEE international conference on robotics and automation (Vol. 3, pp. 913-918). Atlanta, GA.
39. Schneider K., Zernicke R.F., Schmidt R.A., Hart T.J. Changes in limb dynamics during the practice of rapid arm movements. Journal of Biomechanics. 22(8)(9):1989;805-817.
40. Schöner G. A dynamic theory of coordination of discrete movement. Biological Cybernetics. 63:1990;257-270.
41. Slotine, J.-J. E., & Li, W. (1991). Applied nonlinear control. Englewood Cliffs, NJ: Prentice-Hall.
42. Taga G., Yamaguchi Y., Shimizu H. Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Biological Cybernetics. 65:1991;147-159.
43. Thelen, E., Zernicke, R., Schneider, K., Jensen, J., Kamm, K., & Corbetta, D. (1992). The role of intersegmental dynamics in infant neuromotor development. In O. E. Stelmach, & J. Requin (Eds.), Tutorials in motor behavior II (pp. 533-548). Elsevier: Amsterdam.
44. Vidyasagar, M. (1978). Nonlinear systems analysis. Englewood Cliffs, NJ: Prentice-Hall.
45. Williamson, M. (1996). Postural primitives: interactive behavior for a humanoid robot arm. In Fourth international conference on simulation of adaptive behavior (pp. 124-131). Cape Cod, MA.
46. Williamson, M. M. (1995). Series elastic actuators. Master's thesis, Massachusetts Institute of Technology Artificial Intelligence Lab, Cambridge, MA.