ALL_TII-20-4884.pdf (3.71 MB)
An approach for robotic leaning inspired by biomimetic adaptive control
journal contribution
posted on 2023-06-10, 00:00 authored by Chao Zeng, Hang Su, Yanan LiYanan Li, Jing Guo, Chenguang YangHow to enable robotic compliant manipulation has become a critical problem in the robotics field. Inspired by a biomimetic adaptive control strategy, this work presents a novel representation model named human-like compliant movement primitives (Hl-CMPs) which could allow a robot to learn human-like compliant behaviours. The state-of-the-art approaches can hardly learn complete compliant profiles for a specific task. Comparatively, our model can encode task-specific parametric movement trajectories, correspondingly associated with dynamic trajectories including both impedance and feedforward force profiles. The compliant profiles are learned based on a biomimetic control strategy derived from the human motor learning in the muscle space, enabling the robot to simultaneously learn the impedance and the force while executing the movement trajectories obtained from human demonstration. Furthermore, both the kinematic and the dynamic profiles are learned in the parametric space, thus enabling the representation of a skill using corresponding parameters (i.e, task-specific parameters).
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Industrial InformaticsISSN
1551-3203Publisher
IEEEExternal DOI
Issue
3Volume
18Page range
1479-1488Department 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
2021-06-04First Open Access (FOA) Date
2021-06-04First Compliant Deposit (FCD) Date
2021-06-04Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC