Timed trajectory generation using dynamical systems : application to a puma arm
We present an attractor based dynamics that autonomously generates trajectories with stable timing (limit cycle solutions), stably adapted to changing online sensory information. Autonomous differential equations are used to formulate a dynamical layer with either stable fixed points or a stable lim...
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| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2009
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| Texto completo: | http://hdl.handle.net/1822/17655 |
| País: | Portugal |
| Oai: | oai:repositorium.sdum.uminho.pt:1822/17655 |