Learning to manipulate a whip with simple primitive actions – A simulation study
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 der...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Elsevier BV
2024
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| Online Access: | https://hdl.handle.net/1721.1/153386 |
| _version_ | 1826194941652500480 |
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| author | Nah, Moses C. Krotov, Aleksei Russo, Marta Sternad, Dagmar Hogan, Neville |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Nah, Moses C. Krotov, Aleksei Russo, Marta Sternad, Dagmar Hogan, Neville |
| author_sort | Nah, Moses C. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T10:04:16Z |
| format | Article |
| id | mit-1721.1/153386 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:04:16Z |
| publishDate | 2024 |
| publisher | Elsevier BV |
| record_format | dspace |
| spelling | mit-1721.1/1533862024-07-11T20:08:46Z Learning to manipulate a whip with simple primitive actions – A simulation study Nah, Moses C. Krotov, Aleksei Russo, Marta Sternad, Dagmar Hogan, Neville Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences Multidisciplinary 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. 2024-01-19T20:11:38Z 2024-01-19T20:11:38Z 2023-08 2024-01-19T19:51:19Z Article http://purl.org/eprint/type/JournalArticle 2589-0042 https://hdl.handle.net/1721.1/153386 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). en 10.1016/j.isci.2023.107395 iScience Creative Commons Attribution Noncommercial No Derivatives http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Elsevier BV Science Direct |
| spellingShingle | Multidisciplinary Nah, Moses C. Krotov, Aleksei Russo, Marta Sternad, Dagmar Hogan, Neville Learning to manipulate a whip with simple primitive actions – A simulation study |
| title | Learning to manipulate a whip with simple primitive actions – A simulation study |
| title_full | Learning to manipulate a whip with simple primitive actions – A simulation study |
| title_fullStr | Learning to manipulate a whip with simple primitive actions – A simulation study |
| title_full_unstemmed | Learning to manipulate a whip with simple primitive actions – A simulation study |
| title_short | Learning to manipulate a whip with simple primitive actions – A simulation study |
| title_sort | learning to manipulate a whip with simple primitive actions a simulation study |
| topic | Multidisciplinary |
| url | https://hdl.handle.net/1721.1/153386 |
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