Impedance learning for robots interacting with unknown environments

Li, Yanan and Ge, Shuzhi Sam (2013) Impedance learning for robots interacting with unknown environments. IEEE Transactions on Control Systems Technology, 22 (4). pp. 1422-1432. ISSN 1063-6536

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Abstract

In this paper, impedance learning is investigated for robots interacting with unknown environments. A twoloop control framework is employed and adaptive control is developed for the inner-loop position control. The environments are described as time-varying systems with unknown parameters in the state-space form. The gradient-following scheme and betterment scheme are employed to obtain a desired impedance model, subject to unknown environments. The desired interaction performance is achieved in the sense that a defined cost function is minimized. Simulation and experiment studies are carried out to verify the validity 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 14:42
Last Modified: 15 Dec 2017 14:42
URI: http://sro.sussex.ac.uk/id/eprint/72106

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