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Robust impedance control for dexterous interaction using fractal impedance controller with IK-optimisation

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conference contribution
posted on 2023-06-10, 02:47 authored by Carlo TiseoCarlo Tiseo, Quentin Rouxel, Zhibin Li, Michael Mistry
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is limited. This work proposed a hierarchical control architecture for robot manipulators and provided capabilities of reproducing human-like motions during unknown interaction dynamics. Our results show that the reproduced end-effector trajectories can preserve the main characteristics of the initial human motion recorded via a motion capture system, and are robust against external perturbations. The data indicate that some detailed movements are hard to reproduce due to the physical limits of the hardware that cannot reach the same velocity recorded in human movements. Nevertheless, these technical problems can be addressed by using better hardware and our proposed algorithms can still be applied to produce imitated motions

History

Publication status

  • Published

File Version

  • Accepted version

Journal

Proceedings of IEEE International Conference on Robotics and Automation (ICRA)

Publisher

IEEE

Page range

840-846

Event name

2022 IEEE International Conference on Robotics and Automation (ICRA)

Event location

Philadelphia (PA), USA

Event type

conference

Event date

23rd-27th May 2022

ISBN

978-1-7281-9681-7

Department affiliated with

  • Engineering and Design Publications

Notes

© 2022 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

2022-03-04

First Open Access (FOA) Date

2022-03-04

First Compliant Deposit (FCD) Date

2022-03-04

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