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excerpt from the book:Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351)Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387Copyright ? 2014 by Pan Stanford Publishing Pte. Ltd.Chapter 4. Control Chapter outline:General Considerations of Control Problem 103Simple PID Control 105Non-linear and Multi-dimensional Control Problems 106Learning by Demonstration 108Other Methods and Artificial Intelligence 109Control and Physics 110Physics, Intelligence and Free Will? 111Neuroscience 112The Nervous System 112Neuron 114Action Potential 116Types of Motor Neurons 116Glia 117Neural Networks 118Central Pattern Generators and Reflexes 119Motor Circuitry 120Brain “Geography” and Basic Functions 120The forebrain 120The midbrain and the brain stem 122The cerebellum 122References and Suggested Reading 123[chapter content intentionally omitted]References:Anastassiou, A. C., Perin, R., Markram, H., and Koch, C., “Ephaptic coupling of cortical neurons”, Nature Neuroscience, 14:2, 2011.Atkeson, C. G., “Efficient robust policy optimization” (long version), cs.cmu.edu/_cga/papers/acc2012-tr.pdf. Retrieved May 2012.Atkeson, C. G., “Efficient robust policy optimization”, In American Control Conference, 2012.Bellman, R. E., Dynamic Programming (Princeton Landmarks in Mathematics), Princeton University Press, England, zi, E., Hogan, N., Mussa-Ivaldi, F. A., and Giszter, S., “Does the nervous system use equilibrium-point control to guide single and multiple joint movements?” Behav. Brain Sci., 15(04), 603–613, 1992.Celebrazioni golgiane (Camillo Golgi), . Retrieved July 2012.Craig, J. J., Introduction to Robotics: Mechanics and Control, 3rd Ed., Prentice Hall, 2004.Creativity & The New Creative Mind: Neuroscience and New Human Frontiers, . Retrieved July 2012.Divisions of the Brain, . Retrieved July 2012.Forrest, T. 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Syst., 13(11), 1996.Khatib, O., Sentis, L., Park, J. H., and Warren, J., “Whole body dynamic behavior and control of human-like robots”, Int. J. Humanoid Robot., 1(1), 2004.Madden, J. D., Vandesteeg, N., Anquetil, P. A., Madden, P. G., Takshi, A., Pytel, R. Z., Lafontaine, S. R., Wieringa, P. A., and Hunter, I. W., “Artificial muscle technology: Physical principles and naval prospects”, IEEE J. Ocean. Eng., 29(3), 2004.Mai, J. K., The Human Nervous System, 3rd Ed., Mai, J. K., and Paxinos, G. (eds.), Academic Press Neuroscience, 2011.Marshall, L., Helgadóttir, H., M?lle, M., and Born, J., “Boosting slow oscillations during sleep potentiates memory”, Nature, 444, 2006.McMahon, T. A., “Muscles, Reflexes, and Locomotion”, Princeton University Press, 1984.Nerve fiber—definition of nerve fiber in the Medical dictionary—by the Free Online Medical Dictionary, Thesaurus and Encyclopedia, . Retrieved July 2012.Neuroscience—Wikipedia, the free encyclopedia, . Retrieved July 2012.PID controller—Wikipedia, the free encyclopedia, . Retrieved July 2012.Pineal gland—Wikipedia, the free encyclopedia, . Retrieved July 2012.Popovic, M. B., Englehart, A., and Herr, H., “Angular Momentum Primitives for Human Walking: Biomechanics and Control”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004.Purves, W. K., Orians, G. H., and Heller, H. C., Life: The Science of Biology, 4th Ed., Sinauer Associates, Sunderland, 1995.Richard Bellman—GHN: IEEE Global History Network, . Retrieved July 2012.Richard E. Bellman—Wikipedia, the free encyclopedia, . Retrieved July 2012.Santiago Ramón y Cajal—Biography, — The Official Web Site of the Nobel Prize, . Retrieved July 2012.Santiago Ramon y Cajal, Cajal’s Degeneration and Regeneration of the Nervous System, Vol. 5 of History of Neuroscience”, DeFelipe, J., and Jones, E. G. (eds.), May, R. M. (trans.), Oxford University Press, 1991.Sentis, L., and Khatib, O., “Task-Oriented Control of Humanoid Robots Through Prioritization”, IEEE RAS/RSJ International Conference on Humanoid Robots, Santa Monica, USA 2004.Slotine, J.-J. E., and Li, W., Applied nonlinear control, Prentice Hall, 1991. Stufflebeam, R., Neurons, Synapses, Action Potentials, and Neurotransmission— The Mind Project, . Retrieved July 2012.The Bellman Equation, Richard Bellman, The Movie, . Retrieved July 2012.The Columbia Encyclopedia, 6th Ed., The Columbia University Press. 2000,. Retrieved July 500 Supercomputing Sites, . Retrieved May 2012.Trappenberg, T. P., Fundamentals of Computational Neuroscience, 2nd Ed., Oxford University Press, 2010.User:LadyofHats/gallery2, Mariana Ruiz Villarreal—Wikimedia Commons, . Retrieved July 2012.Winter, D., Biomechanics and Motor Control of Human Movement, John Wiley, New York, 1990. ................
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