Hogan, N. (1984). An organising principle for a class of voluntary movements. Journal of Neuroscience, 4, 2745-2754.  Home/Search   Document Not in Database   Summary   Related Articles   Check

.... 1, b = h 2 k I, and h is the time step of the discrete time approximation. Let us suppose that movement of the link is achieved by controlled changes in the equilibrium position of the spring. Thus we define the control signal u[t] to be the time varying equilibrium position # o [t] cf. Hogan, 1984). Let us also define two state variables: x 1 [t] #[t 1] x 2 [t] #[t] Note that x 2 [t 1] x 1 [t] We combine this equation with Equation 7 to yield a single vector equation of the form: # x 1 [t 1] x 2 [t 1] # = # a 1 a 2 1 0 ## x 1 [t] x 2 [t] # # b 0 # u[t] ....

Hogan, N. (1984). An organising principle for a class of voluntary movements. Journal of Neuroscience, 4, 2745-2754.

.... updated by an amount: f dq = s du with s = 25) 0 u Here, s is a local sensitivity matrix which we will assume to be non singular (det(s) 0) Then, as the input changes smoothly in time, the above equation defines a sequence of static equilibria that has been termed a virtual trajectory (Hogan 1984). The inverse kinematic problem becomes that of finding an appropriate sequence of inputs u(t) given a desired trajectory of the end effector, x (t) in the workspace. One way to do this is to simulate passive 0 displacements which will drive the joints away from equilibrium; then, at the end ....

Hogan, N. 1984. An Organising Principle for a Class of Voluntary Movements. J. of Neuroscience. 4(11):2745-2754.

No context found.

Hogan, N. (1984). An organising principle for a class of voluntary movements.

Online articles have much greater impact   More about CiteSeer.IST   Add search form to your site   Submit documents   Feedback  

CiteSeer.IST - Copyright Penn State and NEC