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Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting this three-layered organization and based on a modular approach to human movement generation. We will show that our architecture is well suited for the online generation and modulation of motor behaviors, but also for switching between motor behaviors. This will be illustrated respectively through an interactive drumming task and through switching between reaching and crawling.