This paper surveys the developments of the last 20 years in the field of central pattern
generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging …

We present in outline a theory of sensorimotor control based on dynamic primitives, which
we define as attractors. To account for the broad class of human interactive behaviors …

We propose a novel method for movement assistance that is based on adaptive oscillators,
ie, mathematical tools that are capable of extracting the high-level features (amplitude …

Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet
this is achieved despite slower actuators, imprecise sensors, and vastly slower …

Humans are adept at a wide variety of motor skills, including the handling of complex objects
and using tools. Advances to understand the control of voluntary goal-directed movements …

Rhythmic and discrete movements are frequently considered separately in motor control,
probably because different techniques are commonly used to study and model them. Yet the …

Human dexterity far exceeds that of modern robots, despite a much slower neuromuscular
system. Understanding how this is accomplished may lead to improved robot control. The …

Motor primitives are fundamental building blocks of a controller which enable dynamic robot
behavior with minimal high-level intervention. By treating motor primitives as basic …

Despite all the effort devoted to generating locomotion algorithms for bipedal walkers, robots
are still far from reaching the impressive human walking capabilities, for instance regarding …

Controllers based on neuromuscular models hold the promise of energy-efficient and
human-like walkers. However, most of them rely on optimizations or cumbersome hand …