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ID:34423102
大小:2.54 MB
页数:60页
时间:2019-03-06
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2、upglasswithoutspillinganymilk...MeasuresofoptimalityTianjinUniversityExample:Example:ProstheticsProstheticsÆÆbionicsbionics©Problem:Problem:Makealegthatknowswhentobend.Makealegthatknowswhentobend.©Inputs:Inputs:©Kneeangle.Kneeangle.©Ankleangle.Ankleangle.©Gro
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5、Visual,ProprioceptiveProprioceptive,...,...PlantStatePlantState:Positions,velocities,muscle:Positions,velocities,muscleactivations,availableenergyactivations,availableenergy……ControllerInputControllerInput::NoisyNoisysensoryinformationsensoryinformationContro
6、llerOutputControllerOutput::NoisyNoisyneuralpatternsneuralpatternsTianjinUniversityModelingMotorControlModelingMotorControlControlTaskGoalSignalsBrainHandNeuralcontrollerplantPatternObservationssensoryFeedbackDetailsDetails……TianjinUniversityOptimalMovementsO
7、ptimalMovements©ControlObjectiveControlObjective:Reachfrom:Reachfromaatotobb..©FactFact::morethanonewaytoskinacat...morethanonewaytoskinacat...©HowtochooseHowtochoose:Addoptimalityprinciple:Addoptimalityprinciple©E.g.optimalityprincipleE.g.optimalityprinciple
8、::MinimumvarianceatMinimumvarianceatbb..©ModelingModelingassumption(sassumption(s))::Controlisnoisy:Controlisnoisy:noisenoise//
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