Robotic impedance learning for robot-assisted physical training

Li, Yanan, Zhou, Xiaodong, Zhong, Junpei and Li, Xuefang (2019) Robotic impedance learning for robot-assisted physical training. Frontiers in Robotics and AI, 7 (a78). pp. 1-13. ISSN 2296-9144

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Abstract

Impedance control has been widely used in robotic applications where a robot has physical interaction with its environment. However, how the impedance parameters are adapted according to the context of a task is still an open problem. In this paper, we focus on a physical training scenario, where the robot needs to adjust its impedance parameters according to the human user’s performance so as to promote their learning. This is a challenging problem as humans’ dynamic behaviours are difficult to model and subject to uncertainties. Considering that physical training usually involves a repetitive process, we develop impedance learning in physical training by using iterative learning control (ILC). Since the condition of the same iteration length in traditional ILC cannot be met due to human variance, we adopt a novel ILC to deal with varying iteration lengthes. By theoretical analysis and simulations, we show that the proposed method can effectively learn the robot’s impedance in the application of robot-assisted physical training.

Item Type: Article
Additional Information: This research was supported by National Natural Science Foundation of China (Grant No. 51805025).
Keywords: impedance learning, impedance control, iterative learning control
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Research Centres and Groups: Dynamics, Control and Vehicle Research Group
Depositing User: Lucy Arnold
Date Deposited: 16 Aug 2019 12:52
Last Modified: 06 Sep 2019 13:00
URI: http://sro.sussex.ac.uk/id/eprint/85497

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