Transient Behavior and Predictability in Manipulating Complex Objects
Name
Rashida_ICRA_2020.pdf
Description
Accepted version
Size
1.74 MB
Format
Adobe PDF
Checksum (MD5)
0123a1a3b9a5a172262f5e1d10e7be98
Author(s)
Nayeem, Rashida
Bazzi, Salah
Hogan, Neville
Sternad, Dagmar
Date Issued
2020
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Nayeem, Rashida, Bazzi, Salah, Hogan, Neville and Sternad, Dagmar. 2020. "Transient Behavior and Predictability in Manipulating Complex Objects." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Author's final manuscript
Abstract
© 2020 IEEE. Relatively little work in human and robot control has examined the control of underactuated objects with internal dynamics, such as transporting a cup of coffee, a task that presents little problems for humans. This study examined how humans move a 'cup of coffee' with a view to identify principles that may be useful for robot control. The specific focus was on how humans choose initial conditions to safely reach a steady state. We hypothesized that subjects choose initial conditions that minimized the transient duration to reach the steady state faster, as it presented more predictable dynamics. In the experiment, the cup of coffee was reduced to a 2-D cup with a sliding ball inside which was simulated in a virtual environment. Human subjects interacted with this virtual object via a robotic manipulandum that provided haptic feedback. Participants moved the cup between two targets without losing the ball; they were instructed to explore different initial conditions before initiating the continuous interaction. Results showed that subjects converged to a small set of initial conditions that decreased their transient durations and achieved a predictable steady state faster. Simulations with a simple feedforward controller and inverse dynamics calculations confirmed that these initial conditions indeed led to shorter transients and less complex interaction forces. These results may inform robot control of objects with internal dynamics where the effects of initial conditions need further investigation.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA40945.2020.9196977
