Dynamic analysis of simultaneous adaptation of force, impedance and trajectory

Yanan Li; Etienne Burdet

Dynamic analysis of simultaneous adaptation of force, impedance and trajectory

Robotics 2016-05-26 v1

Authors: Yanan Li , Etienne Burdet

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.

Keywords

adaptive control force adaptation impedance adaptation trajectory adaptation Lyapunov theory robot-environment interaction

Cite

@article{arxiv.1605.07834,
  title  = {Dynamic analysis of simultaneous adaptation of force, impedance and trajectory},
  author = {Yanan Li and Etienne Burdet},
  journal= {arXiv preprint arXiv:1605.07834},
  year   = {2016}
}

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4 pages

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