TrajectoryAdaptation30April16.pdf (1.82 MB)
Reference adaptation for robots in physical interactions with unknown environments
journal contribution
posted on 2023-06-09, 09:23 authored by Chen Wang, Yanan LiYanan Li, Shuzhi Sam Ge, Tong Heng LeeIn 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on CyberneticsISSN
2168-2267Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
11Volume
47Page range
3504-3515Department affiliated with
- Engineering and Design Publications
Notes
(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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