ABSTRACT
This chapter considers adaptive aspects of feedforward control in combination with feedback control. Feedforward control involves the generation of movement based on transformations of the time history of a desired trajectory. One type of situation that involves adaptive control is the lifting of objects that vary in weight. The problem of adapting a movement pattern to initially unknown loads has been studied in the context of robotic motion control as well as in terms of human motion control. Two different approaches as to how adaptation might be accomplished are called direct and indirect adaptive control. In indirect adaptive control, the processes of estimating the unknown parameter(s) and implementing a control strategy that utilizes that estimate are independent. Important aspects of human movement control may involve prediction of the consequences of motor commands to overcome internal time delays, and the motor commands may be more complex than simple torques.
