Stability and Predictability in Dynamically Complex Physical Interactions
| Autor: | Neville Hogan, Salah Bazzi, Julia Ebert, Dagmar Sternad |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Underactuation Chaotic Pendulum Perturbation (astronomy) 02 engineering and technology Article 03 medical and health sciences Nonlinear system 020901 industrial engineering & automation 0302 clinical medicine Control theory Trajectory Robot Robust control Predictability 030217 neurology & neurosurgery |
| Zdroj: | ICRA |
| ISSN: | 2152-4092 |
| Popis: | This study examines human control of physical interaction with objects that exhibit complex (nonlinear, chaotic, underactuated) dynamics. We hypothesized that humans exploited stability properties of the human-object interaction. Using a simplified 2D model for carrying a “cup of coffee”, we developed a virtual implementation to identify human control strategies. Transporting a cup of coffee was modeled as a cart with a suspended pendulum, where humans moved the cart on a horizontal line via a robotic manipulandum. The specific task was to transport the cart-pendulum system to a target, as fast as possible, while accommodating assistive and resistive perturbations. To assess trajectory stability, we applied contraction analysis. We showed that when the perturbation was assistive, humans absorbed the perturbation by controlling cart trajectories into a contraction region prior to the perturbation. When the perturbation was resistive, subjects passed through a contraction region following the perturbation. Entering a contraction region stabilizes performance and makes the dynamics more predictable. This human control strategy could inspire more robust control strategies for physical interaction in robots. |
| Databáze: | OpenAIRE |
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