Learning to manipulate a whip with simple primitive actions – A simulation study
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1-s2.0-S2589004223014724-main.pdf
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11.74 MB
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Author(s)
Nah, Moses C.
Krotov, Aleksei
Russo, Marta
Sternad, Dagmar
Hogan, Neville
Date Issued
August 2023
Journal
iScience
Publisher
Elsevier BV
Citation
Nah, Moses C., Krotov, Aleksei, Russo, Marta, Sternad, Dagmar and Hogan, Neville. 2023. "Learning to manipulate a whip with simple primitive actions – A simulation study." iScience, 26 (8).
Version
Final published version
Abstract
This simulation study investigated whether a 4-degrees-of-freedom (DOF) arm could strike a target with a 50-DOF whip using a motion profile similar to discrete human movements. The interactive dynamics of the multi-joint arm was modeled as a constant joint-space mechanical impedance, with values derived from experimental measurement. Targets at various locations could be hit with a single maximally smooth motion in joint-space coordinates. The arm movements that hit the targets were identified with fewer than 250 iterations. The optimal actions were essentially planar arm motions in extrinsic task-space coordinates, predominantly oriented along the most compliant direction of both task-space and joint-space mechanical impedances. Of the optimal movement parameters, striking a target was most sensitive to movement duration. This result suggests that the elementary actions observed in human motor behavior may support efficient motor control in interaction with a dynamically complex object.
Subjects
Multidisciplinary
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Terms of Use
Creative Commons Attribution Noncommercial No Derivatives
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1016/j.isci.2023.107395
