Dynamic analysis of simultaneous adaptation of force, impedance and trajectory

TL;DR

This paper develops a robotic model that analyzes how humans adapt force, impedance, and trajectory simultaneously during contact tasks, using Lyapunov-based adaptive control to understand the underlying dynamics.

Contribution

It introduces a general adaptive controller for robotic-environment interaction based on stiffness and damping, modeling human-like concurrent adaptation mechanisms.

Findings

Derived a Lyapunov-based adaptive controller for contact tasks.

Analyzed the dynamics of simultaneous adaptation in humans and robots.

Provided insights into human-robot interaction mechanisms.

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.