Dynamic analysis of simultaneous adaptation of force, impedance and trajectory
This work addresses the challenge of robotic adaptation in contact tasks, which is incremental as it models a known human mechanism.
The paper tackled the problem of how humans adapt force, impedance, and trajectory during contact tasks by developing a robotic model and analyzing its dynamics, resulting in a general adaptive controller derived using Lyapunov theory for robot-environment interaction characterized by stiffness and damping.
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.