Skip to Main Content
Table 1:
Summary of the Equations for Our Discrete and Rhythmic Model Equations.
DiscreteRhythmic
Transformation system:  Transformation system:  
 Equation 2.1  Equation 2.1 
    
Canonical system:  Canonical system:  
 Equation 2.2  Equation 2.5 
Forcing term:  Forcing term:  
 Equation 2.3  Equation 2.6 
    
Optional terms:  Optional terms:  
 Equation 2.15  Equation 2.15 
   Equation 2.20 
    
hi= equal spacing in   hi= equal spacing in   
    
    
    
    
DiscreteRhythmic
Transformation system:  Transformation system:  
 Equation 2.1  Equation 2.1 
    
Canonical system:  Canonical system:  
 Equation 2.2  Equation 2.5 
Forcing term:  Forcing term:  
 Equation 2.3  Equation 2.6 
    
Optional terms:  Optional terms:  
 Equation 2.15  Equation 2.15 
   Equation 2.20 
    
hi= equal spacing in   hi= equal spacing in   
    
    
    
    

Notes: The high-level design parameters of the discrete system are , the temporal scaling factor, and g, the goal position. The design parameters of the rhythmic system are g, the baseline of the oscillation; , the period divided by ; and r, the amplitude of oscillations. The terms Ct and Cc are coupling terms that are application dependent and explained in section 3.2. The parameters wi are fitted to a demonstrated trajectory using locally weighted learning. The parameters , and ci are positive constants. Unless stated otherwise, the values at the bottom of the table are used in this letter.

Close Modal

or Create an Account

Close Modal
Close Modal