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

Tiseo, Carlo, Rouxel, Quentin, Li, Zhibin and Mistry, Michael (2022) Robust impedance control for dexterous interaction using fractal impedance controller with IK-optimisation. 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia (PA), USA, 23rd-27th May 2022. Published in: Proceedings of IEEE International Conference on Robotics and Automation (ICRA). IEEE (Accepted)

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Abstract

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

Item Type: Conference Proceedings
Additional Information: © 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
Schools and Departments: School of Engineering and Informatics > Engineering and Design
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SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 04 Mar 2022 11:12
Last Modified: 04 Mar 2022 11:12
URI: http://sro.sussex.ac.uk/id/eprint/104686

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