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Force, impedance and trajectory learning for contact tooling and haptic identification

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posted on 2023-06-09, 12:44 authored by Yanan LiYanan Li, Gowrishankar Ganesh, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schaeffer, Etienne Burdet
Humans can skilfully use tools and interact with the environment by adapting their movement trajectory, contact force, and impedance. Motivated by the human versatility, we develop here a robot controller that concurrently adapts feedforward force, impedance, and reference trajectory when interacting with an unknown environment. In particular, the robot's reference trajectory is adapted to limit the interaction force and maintain it at a desired level, while feedforward force and impedance adaptation compensates for the interaction with the environment. An analysis of the interaction dynamics using Lyapunov theory yields the conditions for convergence of the closed-loop interaction mediated by this controller. Simulations exhibit adaptive properties similar to human motor adaptation. The implementation of this controller for typical interaction tasks including drilling, cutting, and haptic exploration shows that this controller can outperform conventional controllers in contact tooling.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Robotics

ISSN

1552-3098

Publisher

Institute of Electrical and Electronics Engineers

Issue

5

Volume

34

Page range

1170-1182

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2018-04-05

First Open Access (FOA) Date

2018-05-23

First Compliant Deposit (FCD) Date

2018-04-05

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