Passive Motion Paradigm: An Alternative to Optimal Control

Passive Motion Paradigm: An Alternative to Optimal Control

IN THE LAST YEARS, OPTIMAL CONTROL THEORY (OCT) HAS EMERGED AS THE LEADING APPROACH FOR INVESTIGATING NEURAL CONTROL OF MOVEMENT AND MOTOR COGNITION FOR TWO COMPLEMENTARY RESEARCH LINES: behavioral neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the "degrees of freedom (DoFs) problem," the common core of production, observation, r...

An Alternative Paradigm For Control System Design

An alternative framework for control design is presented in this paper. It compliments the existing theory in that: 1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; 2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing d...

An alternative paradigm for development

The current dominant model of development, based on market liberalisation and commercial globalisation, has conspicuously failed to deliver Health for All. The rate of health improvement in lowand middle-income countries (LMICs) has slowed dramatically over the past thirty years, while we have been brought to the brink of imminent environmental disaster as a result of climate change. This chapt...

Supervision in an Alternative Paradigm

In this paper we express our framing of supervision as preparation and training for professional practice as a researcher, rather than the culmination of tertiary education. Instead of discussing the supervisory activity, performance and best practice, we focus on the uniqueness of practice as a researcher in the creative arts as being constituted by an emerging and novel research paradigm. We ...

Multi-Modal Control: From Motion Description Languages to Optimal Control