Towards a “Brain-Guided” Cognitive Architecture - Bioinspired Approaches for Human-Centric Technologies - page 208

Fig. 7.3 Top panel : PMP network. The basic kinematic constraint that links the hand and joint
spaces is represented by the Jacobian matrix. Additional constraints, in the hand and joint spaces,
can be represented by means of corresponding force or torque fields. Bottom panel : Articulated
body schema within the PMP framework, to be configured in the preparation time of an action with
a selection of tools, targets, time-base generators, and specific constraints

different sections of the orchestra, modulates the emphasis of the different melodic
pieces, etc.: the gating action of the function is the key element of this symphonic
action.
The ( t ) function was not present in the original PMP model, and it was added

later on (Mohan and Morasso 2011 ; Mohan et al. 2009 , 2011a , b ) when the model
was applied to the iCub robot (Metta et al. 2010 ). The movements determined by

Γ