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A modular bio-inspired architecture for movement generation for the infant-like robot iCub

2008

Conference Paper

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Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting this organization and based on a modular approach to human movement generation. We will show that our architecture is well suited for the online generation and modulation of motor behaviors, but also for switching between motor behaviors. This will be illustrated respectively through an interactive drumming task and through switching between reaching and crawling.

Author(s): Degallier, S. and Righetti, L. and Natale, L. and Nori, F. and Metta, G. and Ijspeert, A.J.
Book Title: 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages: 795--800
Year: 2008
Month: October
Publisher: IEEE

Department(s): Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/BIOROB.2008.4762847

Address: Scottsdale, USA
URL: https://infoscience.epfl.ch/record/128613/files/BIRO08_0100_FI.pdf

BibTex

@inproceedings{degallier_modular_2008,
  title = {A modular bio-inspired architecture for movement generation for the infant-like robot {iCub}},
  author = {Degallier, S. and Righetti, L. and Natale, L. and Nori, F. and Metta, G. and Ijspeert, A.J.},
  booktitle = {2008 2nd {IEEE} {RAS} \& {EMBS} {International} {Conference} on {Biomedical} {Robotics} and {Biomechatronics}},
  pages = {795--800},
  publisher = {IEEE},
  address = {Scottsdale, USA},
  month = oct,
  year = {2008},
  url = {https://infoscience.epfl.ch/record/128613/files/BIRO08_0100_FI.pdf},
  month_numeric = {10}
}