Motor Control
Developing a biologically plausible framework for models of neural control of movement.
As part of the research in our lab we are looking at biological mappings of a hierarchical optimal control framework behind motor control in the brain. Travis DeWolf has been working on developing a biologically plausible framework for models of neural control of movement, to read an abbreviated description of this model, please click here: NOCH framework.
Recent work in the lab has focused on the development of operational space control and adaptive control models implemented in neurons.
To read more about motor control discussion you can check out related motor control blog posts.
If you have any questions or comments, please email Travis DeWolf.
Motor Control Projects
Arm models
As part of building models of the motor control system it was necessary to develop simulations with realistic dynamics to control. Simpler one and two link arm models are common, and easy to find online, but more complicated models quickly become much more complicated to develop. The models here were developed with MapleSim, and they can be accessed both from Python and Matlab.
Controllers
Operational space controllers
Controllers based on the operational space control framework by Dr. Oussama Khatib, presented in this paper. An introduction to OSC can be found in this tutorial by Samir Menon.
For more discussion and slower walk through of the development of operational space controllers you can check out related OSC blog posts.