Dynamic Stability of Repeated Agent-Environment Interactions During the Hybrid Ball-bouncing Task

Guillaume Avrin, Maria Makarov, Pedro Rodriguez-Ayerbe, Isabelle A. Siegler

Abstract

This interdisciplinary study aims to understand and model human motor control principles using automatic control methods, with possible applications in robotics for tasks involving a rhythmic interaction with the environment. The paper analyses the properties of a candidate model for the visual servoing of the 1D bouncing ball benchmark task in humans. The contributions are twofold as they i/ enable a computationally efficient way of testing hypotheses in human motor control modeling, and ii/ will allow to export and adapt the lessons learned from this modeling of human behavior for more robust and less model-dependent robotic control methods. Three hypotheses about the sensorimotor couplings involved during the task, i.e. three control structures are analyzed from the point of view of task stability by means of Poincaré maps. Obtained results are used to refine the proposed models of sensorimotor couplings. It is shown that the fixed points of the Poincaré maps are stable and that the obtained linear approximation, derived on these equilibrium points, can be viewed as a state-feedback. The human-like controller gains are then retrieved with a Linear Quadratic control method, thus showing its inherent robustness.

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Paper Citation


in Harvard Style

Avrin G., Makarov M., Rodriguez-Ayerbe P. and Siegler I. (2017). Dynamic Stability of Repeated Agent-Environment Interactions During the Hybrid Ball-bouncing Task . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 486-496. DOI: 10.5220/0006428304860496


in Bibtex Style

@conference{icinco17,
author={Guillaume Avrin and Maria Makarov and Pedro Rodriguez-Ayerbe and Isabelle A. Siegler},
title={Dynamic Stability of Repeated Agent-Environment Interactions During the Hybrid Ball-bouncing Task},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={486-496},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006428304860496},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Dynamic Stability of Repeated Agent-Environment Interactions During the Hybrid Ball-bouncing Task
SN - 978-989-758-263-9
AU - Avrin G.
AU - Makarov M.
AU - Rodriguez-Ayerbe P.
AU - Siegler I.
PY - 2017
SP - 486
EP - 496
DO - 10.5220/0006428304860496