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doc:controllers [2019/05/21 13:10]
tgeijten created
doc:controllers [2019/05/21 13:14] (current)
tgeijten
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 ====== SCONE Controllers ====== ====== SCONE Controllers ======
 A controller determines the actuator input (typically: muscle excitation) for a specific state. SCONE supports a wide range of highly customizable control strategies, which can be combined in a modular fashion. For example, the simplest control strategy is a time-based feed-forward actuation pattern – such as a piece-wise linear curve. Such a control strategy can be useful for certain motions, but does not include sensory feedback. In addition to feed-forward actuation, SCONE also supports controllers based on proprioceptic and vestibulair feedback – along with motor noise and neural delay. See the documentation for more details on the control strategies supported by SCONE. A controller determines the actuator input (typically: muscle excitation) for a specific state. SCONE supports a wide range of highly customizable control strategies, which can be combined in a modular fashion. For example, the simplest control strategy is a time-based feed-forward actuation pattern – such as a piece-wise linear curve. Such a control strategy can be useful for certain motions, but does not include sensory feedback. In addition to feed-forward actuation, SCONE also supports controllers based on proprioceptic and vestibulair feedback – along with motor noise and neural delay. See the documentation for more details on the control strategies supported by SCONE.
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 +Controllers can either be feed-forward (also referred to as 'open loop') or feedback (also referred to as '​closed loop'​).
  • by tgeijten