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Neville Hogan: The paradox of human performance | CMU RI Seminar


curated by | March 20, 2016

“Neville Hogan is Professor of Mechanical Engineering, Professor of Brain and Cognitive Sciences and Director of the Newman Laboratory for Biomechanics and Human Rehabilitation at the Massachusetts Institute of Technology. He is a co-founder of Interactive Motion Technologies, Inc., and a board member of Advanced Mechanical Technologies, Inc.” His abstract follows: “Human dexterity and agility vastly exceed that of contemporary robots. Yet humans have vastly slower ‘hardware’ (e.g. muscles) and ‘wetware’ (e.g. neurons). How can this paradox be resolved? Slow actuators and long communication delays require predictive control based on some form of internal model—but what form? I will argue that a plausible answer is based on dynamic primitives; they enable highly dynamic behavior with minimal high-level supervision and intervention. Controlling physical interaction requires mechanical impedance to be among the classes of dynamic primitives. I will review how pre-computing appropriate mechanical impedance may be cast as an optimization problem, provided the objective function includes both force and motion at an interaction port. To combine both motion and interaction primitives, I propose a nonlinear generalization of the classical equivalent circuit. It reconciles contrasting constraints of information-processing (computation) and energy-processing (physical dynamics). I suggest that nonlinear equivalent networks provide a general basis for the internal models required for high-performance interactive control.”



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Presented work at IROS 2018 (Part 1 of 3)
November 12, 2018

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