Dynamic modeling and control of flexible manipulators: a review

Xie, Jing

doi:10.2991/mecs-17.2017.50

Cited by 5 publications

(1 citation statement)

References 11 publications

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“…What control strategies are employed in controlling a whip? Manipulation of flexible objects is still a well-recognized challenge in robotics [66]. The currently predominant approach invokes internal models of the object that the controller learns and uses for its control [67,68].…”

Section: Discussionmentioning

confidence: 99%

Motor control beyond reach—how humans hit a target with a whip

et al. 2022

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Humans are strikingly adept at manipulating complex objects, from tying shoelaces to cracking a bullwhip. These motor skills have highly nonlinear interactive dynamics that defy reduction into parts. Yet, despite advances in data recording and processing, experiments in motor neuroscience still prioritize experimental reduction over realistic complexity. This study embraced the fully unconstrained behaviour of hitting a target with a 1.6-m bullwhip, both in rhythmic and discrete fashion. Adopting an object-centered approach to test the hypothesis that skilled movement simplifies the whip dynamics, the whip's evolution was characterized in relation to performance error and hand speed. Despite widely differing individual strategies, both discrete and rhythmic styles featured a cascade-like unfolding of the whip. Whip extension and orientation at peak hand speed predicted performance error, at least in the rhythmic style, suggesting that humans accomplished the task by setting initial conditions. These insights may inform further studies on human and robot control of complex objects.

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Section: Discussionmentioning

confidence: 99%