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Hierarchical optimal control of a 7-DOF arm model | IEEE Conference Publication | IEEE Xplore

Hierarchical optimal control of a 7-DOF arm model


Abstract:

We apply a hierarchical control framework to a realistic arm model. With 7 degrees of freedom and 14 muscles, this arm model has complex nonlinear dynamics operating on 2...Show More

Abstract:

We apply a hierarchical control framework to a realistic arm model. With 7 degrees of freedom and 14 muscles, this arm model has complex nonlinear dynamics operating on 28-dimensional state space and 14-dimensional control space. A high-level controller is designed to capture the main features of the complex high-dimensional plant dynamics but with reduced dimensionality. This allows us to solve the original optimal control problem without running into the curse of dimensionality. We also provide a method to design a low-level controller to generate arm configurations that are consistent with high-level controls and at the same time satisfy biological constraints. To the best of our knowledge, this is the first feedback controller for a detailed 3-D model of a human arm.
Date of Conference: 30 March 2009 - 02 April 2009
Date Added to IEEE Xplore: 15 May 2009
Print ISBN:978-1-4244-2761-1

ISSN Information:

Conference Location: Nashville, TN, USA

References

References is not available for this document.