TMECH2021_final.pdf (9.99 MB)
A unified parametric representation for robotic compliant skills with adaptation of impedance and force
journal contribution
posted on 2023-06-10, 00:49 authored by Chao Zeng, Yanan LiYanan Li, Jing Guo, Zhifeng Huang, Ning Wang, Chenguang YangRobotic compliant manipulation is a very challenging but urgent research spot in the domain of robotics. One difficulty lies in the lack of a unified representation for encoding and learning of compliant profiles. This article aims to introduce a novel learning and control framework to address this problem: 1) we provide a parametric representation that enables a compliant skill to be encoded in a parametric space and allows a robot to learn compliant manipulation skills based on motion and force information collected from human demonstrations; and 2) the updating laws of the compliant profiles, including impedance and force profiles, are derived from a biomimetic control strategy based on the human motor learning principles. Our approach enables the simultaneous adaptation of impedance and feedforward force online during robot’s reproduction of the demonstrated tasks to deal with task dynamics and external interferences. The proposed approach is verified based on both simulation and real-world task scenarios.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE/ASME Transactions on MechatronicsISSN
1083-4435Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Page range
1-11Department affiliated with
- Engineering and Design Publications
Notes
© 2021 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
2021-08-31First Open Access (FOA) Date
2021-08-31First Compliant Deposit (FCD) Date
2021-08-30Usage metrics
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