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Lecture Notes in Computer Science
In this study, we propose an extension of the MOSAIC architecture to control real humanoid robots. MOSAIC was originally proposed by neuroscientists to understand the human ability of adaptive control. The modular architecture of the MOSAIC model can be useful for solving nonlinear and non-stationary control problems. Both humans and humanoid robots have nonlinear body dynamics and many degrees of freedom. Since they can interact with environments (e.g., carrying objects), control strategiesdoi:10.1007/978-3-642-15193-4_42 fatcat:iepseoa7ynhcjku5clmaz67pmi