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Article

Harmonic Passive Motion Paradigm

2021-07-08

Abstract excerpt

How humans robustly interact with external dynamics is not yet fully understood. This work presents a hierarchical architecture of semi-autonomous controllers that can control the redundant kinematics of the limbs during dynamic interaction, even with delays comparable to the nervous system. The postural optimisation is performed via a non-linear mapping of the system kineto-static properties, and it allows indepe...

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Identifiers and source

Literature Corpus work
555f3a4a-b7b8-50aa-b4c7-d6d8b474d291
DOI
10.1101/2021.07.06.451400
Open publication

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Harmonic Passive Motion ParadigmDOI 10.1101/2021.07.06.451400
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