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Biomimetic control for redundant and high degree of freedom limb systems: neurobiological modularity

  • Giszter, Simon F. (Neurobiology and Anatomy, Drexel University College of Medicine) ;
  • Hart, Corey B. (Neurobiology and Anatomy, Drexel University College of Medicine)
  • Received : 2010.05.18
  • Accepted : 2010.10.18
  • Published : 2011.03.25
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Abstract

We review the current understanding of modularity in biological motor control and its forms, and then relate this modularity to proposed modular control structures for biomimetic robots. We note the features that are different between the robotic and the biological 'designs' with features which have evolved by natural selection, and note those aspects of biology which may be counter-intuitive or unique to the biological controls as we currently understand them. Biological modularity can be divided into kinematic modularity comprised of strokes and cycles: primitives approximating a range of optimization criteria, and execution modularity comprised of kinetic motor primitives: muscle synergies recruited by premotor drives which are most often pulsatile, and which have the biomechanical effect of instantiating a visco-elastic force-field in the limb. The relations of these identified biological elements to kinematic and force-level motor primitives employed in robot control formulations are discussed.

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