caa a22 4500 605540675 CHVBK 20210128100912.0 cr unu---uuuuu 210128e20150401xx s 000 0 eng 10.1007/s00371-014-0939-0 doi (NATIONALLICENCE)springer-10.1007/s00371-014-0939-0 A human-like learning control for digital human models in a physics-based virtual environment [Elektronische Daten] [Giovanni Magistris, Alain Micaelli, Paul Evrard, Jonathan Savin] 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. Springer-Verlag Berlin Heidelberg, 2014 Digital human model nationallicence Motion control nationallicence Bio-inspired motor control nationallicence Virtual reality nationallicence Magistris Giovanni CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut Micaelli Alain CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut Evrard Paul CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut Savin Jonathan Institut national de recherche et de sécurité (INRS), rue du Morvan, CS 60027, 54519, Vand œuvre-l ès-Nancy, France aut The Visual Computer Springer Berlin Heidelberg 31/4(2015-04-01), 423-440 0178-2789 31:4<423 2015 31 371 https://doi.org/10.1007/s00371-014-0939-0 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00371-014-0939-0 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Magistris Giovanni CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut NATIONALLICENCE 700 1- Micaelli Alain CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut NATIONALLICENCE 700 1- Evrard Paul CEA, LIST, LSI, rue de Noetzlin, 91190, Gif-sur-Yvette, France aut NATIONALLICENCE 700 1- Savin Jonathan Institut national de recherche et de sécurité (INRS), rue du Morvan, CS 60027, 54519, Vand œuvre-l ès-Nancy, France aut NATIONALLICENCE 773 0- The Visual Computer Springer Berlin Heidelberg 31/4(2015-04-01), 423-440 0178-2789 31:4<423 2015 31 371