Titlebook: Geometric and Numerical Foundations of Movements; Jean-Paul Laumond,Nicolas Mansard,Jean-Bernard Las Book 2017 Springer International Publ

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,Keynes’ and Minsky’s Macroeconomics,onment that a robot can walk forward or manipulate objects. In this chapter we present a control and planning strategy focused on the control of interaction forces to generate multi-contact whole-body behaviors. Centered around the robot momentum dynamics, our approach consists of a hierarchical inv

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Economic Instruments of Security Policyt work in the intersections of machine learning, robotics, control, and optimization, such relations are highly relevant but sometimes hard to see across disciplines, due also to the different notations and conventions used in the disciplines. The aim of this tutorial is to introduce to constrained

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Multi-Country Growth Economies,otion. The basic instances of this problems have long been tackled using local state-space control. However, the typical nonlinearity of the dynamics, together with the non controllability of its linearization, lead more and more solutions to resort to model predictive control. These methods make it

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Economic Ideas You Should Forgetslow/fast movements is investigated but changing the duration of goal-directed movements can be done in various ways in this framework. Here we show that only one strategy seems plausible to account for both slow/fast and self-paced reaching movements. By relying upon a free-time optimal control for

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https://doi.org/10.1007/978-3-319-44284-6 self-organizing systems but also in explaining the adaptive nature of neuronal dynamics and plasticity in terms of optimization—and the process theories that mediate optimal inference and motor control. A special focus of this chapter is the pre-eminent role of heteroclinic cycles in providing deep

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Elements for a Theory of Teams (1955) complex coordinated movements of single agents and crowds. We demonstrate that Contraction Theory provides an appropriate framework for the design of the stability properties of such complex composite systems. In addition, we demonstrate how such primitive-based movement representations can be embe