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Human-Inspired Control of a Whip: Preparatory Movements Improve Hitting a Target.
Mahdiar Edraki1, Rakshith Lokesh2, Aleksei Krotov3
1Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA.
Summary
Humans skillfully use whips by preparing and striking, a complex strategy that allows for greater target distances. This research models whip manipulation for improved robotic control.
Area of Science:
- Robotics and Control Systems
- Biomechanics and Human Motor Control
Background:
- Manipulating flexible, underactuated objects like whips presents a significant challenge in robotics.
- Humans demonstrate remarkable skill in controlling whips for precise tasks.
Purpose of the Study:
- To investigate human strategies for whip manipulation to strike a target.
- To develop a human-inspired controller for robotic whip use.
Main Methods:
- Construction and modeling of a 25-degree-of-freedom whip.
- Development of a controller emulating human "striking only" and "preparing and striking" strategies.
Main Results:
- The "preparing and striking" strategy, though complex, enabled the whip to reach targets at greater distances.
- Identified insights into human preparatory movements for object manipulation.
Conclusions:
- Human-inspired control strategies can enhance robotic manipulation of underactuated objects.
- Understanding human movement informs effective robot control for complex tasks.
