Adaptive Modules (WP4)

The objective of this work package is to design the building blocks of the complete hierarchical control architecture. The building blocks, the motor primitives, will be implemented as dynamical systems and should exhibit a set of interesting properties such as the ability to produce discrete and periodic motions,  and the possibility to be modulated in real time. Furthermore they should be suitable for learning (i.e. have open parameters that can be adjusted) and for being combined in multiple ways (e.g through superimposition and sequencing) in order to generate more complex movements. More specifically, the goals of his WP are therefore to explore the various options for designing adaptive modules using dynamical systems (both discrete and rhythmic movements),  to provide mathematical tools to analyze stability, and to provide adaptive modules as building blocks for the complete architecture and demonstrate simple locomotion and reaching skills based on a minimal number of modules.