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Learned parametrized dynamic movement primitives with shared synergies for controlling robotic and musculoskeletal systems.

ABSTRACT: A salient feature of human motor skill learning is the ability to exploit similarities across related tasks. In biological motor control, it has been hypothesized that muscle synergies, coherent activations of groups of muscles, allow for exploiting shared knowledge. Recent studies have shown that a rich set of complex motor skills can be generated by a combination of a small number of muscle synergies. In robotics, dynamic movement primitives are commonly used for motor skill learning. This machine learning approach implements a stable attractor system that facilitates learning and it can be used in high-dimensional continuous spaces. However, it does not allow for reusing shared knowledge, i.e., for each task an individual set of parameters has to be learned. We propose a novel movement primitive representation that employs parametrized basis functions, which combines the benefits of muscle synergies and dynamic movement primitives. For each task a superposition of synergies modulates a stable attractor system. This approach leads to a compact representation of multiple motor skills and at the same time enables efficient learning in high-dimensional continuous systems. The movement representation supports discrete and rhythmic movements and in particular includes the dynamic movement primitive approach as a special case. We demonstrate the feasibility of the movement representation in three multi-task learning simulated scenarios. First, the characteristics of the proposed representation are illustrated in a point-mass task. Second, in complex humanoid walking experiments, multiple walking patterns with different step heights are learned robustly and efficiently. Finally, in a multi-directional reaching task simulated with a musculoskeletal model of the human arm, we show how the proposed movement primitives can be used to learn appropriate muscle excitation patterns and to generalize effectively to new reaching skills.

SUBMITTER: Ruckert E

PROVIDER: S-EPMC3797962 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:BackgroundThe importance and power of isotope-based metabolic flux analysis and its contribution to understanding the metabolic network is increasingly recognized. Its application is, however, still limited partly due to computational inefficiency. 13C metabolic flux analysis aims to compute in vivo metabolic fluxes in terms of metabolite balancing extended by carbon isotopomer balances and involves a nonlinear least-squares problem. To solve the problem more efficiently, improved numerical optimization techniques are necessary.ResultsFor flux computation, we developed a gradient-based hybrid optimization algorithm. Here, independent flux variables were compactified into [0, 1)-ranged variables using a single transformation rule. The compactified parameters could be discriminated between non-identifiable and identifiable variables after model linearization. The developed hybrid algorithm was applied to the central metabolism of Bacillus subtilis with only succinate and glutamate as carbon sources. This creates difficulties caused by symmetry of succinate leading to limited introduction of 13C labeling information into the system. The algorithm was found to be superior to its parent algorithms and to global optimization methods both in accuracy and speed. The hybrid optimization with tolerance adjustment quickly converged to the minimum with close to zero deviation and exactly re-estimated flux variables. In the metabolic network studied, some fluxes were found to be either non-identifiable or nonlinearly correlated. The non-identifiable fluxes could correctly be predicted a priori using the model identification method applied, whereas the nonlinear flux correlation was revealed only by identification runs using different starting values a posteriori.ConclusionThis fast, robust and accurate optimization method is useful for high-throughput metabolic flux analysis, a posteriori identification of possible parameter correlations, and also for Monte Carlo simulations to obtain statistical qualities for flux estimates. In this way, it contributes to future quantitative studies of central metabolic networks in the framework of systems biology.

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Learned parametrized dynamic movement primitives with shared synergies for controlling robotic and musculoskeletal systems.

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