A Hierarchical Behavioral Dynamic Approach for Naturally Adaptive Human-Agent Pick-and-Place Interactions

Figure 2

Illustrations of potential functions plotted for (3) and (4) for changes in the value of . In (a), the value of increases from to . As approaches 0, the system becomes bistable but continues to converge on a stable solution at . As increases and becomes less stable the system eventually converges on the solution at . In (b) the value of decreases from to , exhibiting the same characteristics as illustrated in (a) but in the opposite direction (figure modified from [13]).

(a)

(b)