REVIEW
Dynamic analysis of simultaneous adaptation of force, impedance and trajectory
Not yet reviewed by Pith; the record is open.
This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.
SPECIMEN: schema-true, not a live event
T0 review · schema-true
One-sentence machine reading of the paper's core claim.
pith:XXXXXXXX · record.json · timestamp
Dynamic analysis of simultaneous adaptation of force, impedance and trajectory
classification
cs.RO
keywords
environmentforcehumansimpedancetrajectoryadaptadaptationadaptive
read the original abstract
When carrying out tasks in contact with the environment, humans are found to concurrently adapt force, impedance and trajectory. Here we develop a robotic model of this mechanism in humans and analyse the underlying dynamics. We derive a general adaptive controller for the interaction of a robot with an environment solely characterised by its stiffness and damping, using Lyapunov theory.
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.