PERCOLATe: Perceptual control analysis of tasks

This paper describes a preliminary simulation of kinesthetic control systems that operate a humanoid arm having three degrees of freedom. The design is in part a literal interpretation of the stretch and tendon reflexes considered as control systems. A second level of control converts independent control of three joint angles into a trio of systems controlling the tip of the arm in pitch, yaw and distance coordinates centered on the shoulder. The basic properties of muscles are included, and the arm movements are calculated using equations describing the physical dynamics of the arm. A "visual servo" level of control is included in preliminary form. The model exhibits realistic behavior, producing stable and fast control without computing either inverse kinematics or inverse dynamics. © 1999 Academic Press