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arXiv · 1605.07834

Dynamic analysis of simultaneous adaptation of force, impedance and trajectory

Yanan Li·Etienne Burdet
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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.

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Yanan Li, Etienne Burdet. 2016-05-25. Dynamic analysis of simultaneous adaptation of force, impedance and trajectory. https://arxiv.org/abs/1605.07834

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