ICCAS2013.pdf (167.69 kB)
Continuous critic learning for robot control in physical human-robot interaction
conference contribution
posted on 2023-06-09, 09:25 authored by Chen Wang, Yanan LiYanan Li, Shuzhi Sam Ge, Keng Peng Tee, Tong Heng LeeIn this paper, optimal impedance adaptation is investigated for interaction control in constrained motion. The external environment is modeled as a linear system with parameter matrices completely unknown and continuous critic learning is adopted for interaction control. The desired impedance is obtained which leads to an optimal realization of the trajectory tracking and force regulation. As no particular system information is required in the whole process, the proposed interaction control provides a feasible solution to a large number of applications. The validity of the proposed method is verified through simulation studies.
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Publication status
- Published
File Version
- Accepted version
Journal
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)ISSN
2093-7121Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Page range
833-838Event name
13th International Conference on Control, Automation and Systems (ICCAS)Event location
Gwangju, South KoreaEvent type
conferenceEvent date
20-23 October 2013Book title
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)ISBN
9788993215052Department affiliated with
- Engineering and Design Publications
Notes
(c) 2013 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
2017-12-15Usage metrics
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