A Two-Level Model of Anticipation-Based Motor Learning for Whole Body Motion

  • Camille Salaün
  • Vincent Padois
  • Olivier Sigaud
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5499)


We present a model of motor learning based on a combination of Operational Space Control and Optimal Control. Anticipatory processes are used both in the learning of the dynamics model of the system and in the coordination between both types of control. In order to illustrate the proposed model and associated control method, we apply these principles to the control of a simplified virtual humanoid performing a stand-up task starting from a crouching posture.


Linear Quadratic Regulator Joint Velocity High Level Control Proportional Controller Inverse Dynamic Model 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Camille Salaün
    • 1
  • Vincent Padois
    • 1
  • Olivier Sigaud
    • 1
  1. 1.Institut des Systèmes Intelligents et de Robotique, CNRS UMR 7222Université Pierre et Marie Curie - Paris6ParisFrance

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