A model of reference trajectory adaptation for Interaction with objects of arbitrary shape and impedance

This paper introduces and analyzes an algorithm for adaptation of the reference trajectory of a human or robot arm interacting with a novel environment. The algorithm, based on the minimization of interaction force and performance error by satisfying a desired impedance, yields a mathematically rigorous model of the underlying mechanism of motion planning adaptation in humans. Simulations demonstrate a decrease of the interaction force to a limited amount as well as identification of the unknown interaction surface shape. These properties are attractive for adaptive motion of robots interacting with unknown surfaces, providing a robust behavior with little demand on the sensing.