A human-like learning control for digital human models in a physics-based virtual environment
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| 024 | 7 | 0 | |a 10.1007/s00371-014-0939-0 |2 doi |
| 035 | |a (NATIONALLICENCE)springer-10.1007/s00371-014-0939-0 | ||
| 245 | 0 | 2 | |a A human-like learning control for digital human models in a physics-based virtual environment |h [Elektronische Daten] |c [Giovanni Magistris, Alain Micaelli, Paul Evrard, Jonathan Savin] |
| 520 | 3 | |a This paper presents a new learning control framework for digital human models in a physics-based virtual environment. The novelty of our controller is that it combines multi-objective control based on human properties (combined feedforward and feedback controller) with a learning technique based on human learning properties (human-being's ability to learn novel task dynamics through the minimization of instability, error and effort). This controller performs multiple tasks simultaneously (balance, non-sliding contacts, manipulation) in real time and adapts feedforward force as well as impedance to counter environmental disturbances. It is very useful to deal with unstable manipulations, such as tool-use tasks, and to compensate for perturbations. An interesting property of our controller is that it is implemented in Cartesian space with joint stiffness, damping and torque learning in a multi-objective control framework. The relevance of the proposed control method to model human motor adaptation has been demonstrated by various simulations. | |
| 540 | |a Springer-Verlag Berlin Heidelberg, 2014 | ||
| 690 | 7 | |a Digital human model |2 nationallicence | |
| 690 | 7 | |a Motion control |2 nationallicence | |
| 690 | 7 | |a Bio-inspired motor control |2 nationallicence | |
| 690 | 7 | |a Virtual reality |2 nationallicence | |
| 700 | 1 | |a Magistris |D Giovanni |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | |
| 700 | 1 | |a Micaelli |D Alain |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | |
| 700 | 1 | |a Evrard |D Paul |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | |
| 700 | 1 | |a Savin |D Jonathan |u Institut national de recherche et de sécurité (INRS), rue du Morvan, CS 60027, 54519, Vand œuvre-l ès-Nancy, France |4 aut | |
| 773 | 0 | |t The Visual Computer |d Springer Berlin Heidelberg |g 31/4(2015-04-01), 423-440 |x 0178-2789 |q 31:4<423 |1 2015 |2 31 |o 371 | |
| 856 | 4 | 0 | |u https://doi.org/10.1007/s00371-014-0939-0 |q text/html |z Onlinezugriff via DOI |
| 898 | |a BK010053 |b XK010053 |c XK010000 | ||
| 900 | 7 | |a Metadata rights reserved |b Springer special CC-BY-NC licence |2 nationallicence | |
| 908 | |D 1 |a research-article |2 jats | ||
| 949 | |B NATIONALLICENCE |F NATIONALLICENCE |b NL-springer | ||
| 950 | |B NATIONALLICENCE |P 856 |E 40 |u https://doi.org/10.1007/s00371-014-0939-0 |q text/html |z Onlinezugriff via DOI | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Magistris |D Giovanni |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Micaelli |D Alain |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Evrard |D Paul |u CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France |4 aut | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Savin |D Jonathan |u Institut national de recherche et de sécurité (INRS), rue du Morvan, CS 60027, 54519, Vand œuvre-l ès-Nancy, France |4 aut | ||
| 950 | |B NATIONALLICENCE |P 773 |E 0- |t The Visual Computer |d Springer Berlin Heidelberg |g 31/4(2015-04-01), 423-440 |x 0178-2789 |q 31:4<423 |1 2015 |2 31 |o 371 | ||