Continuous critic learning for robot control in physical human-robot interaction

Wang, Chen, Li, Yanan, Ge, Shuzhi Sam, Tee, Keng Peng and Lee, Tong Heng (2014) Continuous critic learning for robot control in physical human-robot interaction. 13th International Conference on Control, Automation and Systems (ICCAS), Gwangju, South Korea, 20-23 October 2013. Published in: 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013). 833-838. Institute of Electrical and Electronics Engineers ISSN 2093-7121 ISBN 9788993215052

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Abstract

In 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.

Item Type: Conference Proceedings
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 15 Dec 2017 15:35
Last Modified: 15 Dec 2017 15:35
URI: http://sro.sussex.ac.uk/id/eprint/72110

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