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Taking inspiration from the hypothesis of muscle synergies, we propose amethod to generate open loop controllers for an agent solving point-to-pointreaching tasks. The controller output is defined as a linear combination of asmall set of predefined actuations, termed synergies. The method can beinterpreted from a developmental perspective, since it allows the agent toautonomously synthesize and adapt an effective set of synergies to newbehavioral needs. This scheme greatly reduces the dimensionality of the controlproblem, while keeping a good performance level. The framework is evaluated ina planar kinematic chain, and the quality of the solutions is quantified inseveral scenarios.

Synthesis and Adaptation of Effective Motor Synergies for the Solution of Reaching Tasks