Reference adaptation for robots in physical interactions with unknown environments

Wang, Chen, Li, Yanan, Ge, Shuzhi Sam and Lee, Tong Heng (2016) Reference adaptation for robots in physical interactions with unknown environments. IEEE Transactions on Cybernetics, 47 (11). pp. 3504-3515. ISSN 2168-2267

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Abstract

In this paper, we propose a method of reference adaptation for robots in physical interactions with unknown environments. A cost function is constructed to describe the interaction performance, which combines trajectory tracking error and interaction force between the robot and the environment. It is minimized by the proposed reference adaptation based on trajectory parametrization and iterative learning. An adaptive impedance control is developed to make the robot be governed by the target impedance model. Simulation and experiment studies are conducted to verify the effectiveness of the proposed method.

Item Type: Article
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 15 Dec 2017 09:27
Last Modified: 15 Dec 2017 09:27
URI: http://sro.sussex.ac.uk/id/eprint/72072

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