University of Sussex
Browse
TrajectoryAdaptation30April16.pdf (1.82 MB)

Reference adaptation for robots in physical interactions with unknown environments

Download (1.82 MB)
journal contribution
posted on 2023-06-09, 09:23 authored by Chen Wang, Yanan LiYanan Li, Shuzhi Sam Ge, Tong Heng Lee
In this paper, we propose a method of reference adaptation for robots in physical interactions with unknown environments. A cost function is constructed to describe the interaction performance, which combines trajectory tracking error and interaction force between the robot and the environment. It is minimized by the proposed reference adaptation based on trajectory parametrization and iterative learning. An adaptive impedance control is developed to make the robot be governed by the target impedance model. Simulation and experiment studies are conducted to verify the effectiveness of the proposed method.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Cybernetics

ISSN

2168-2267

Publisher

Institute of Electrical and Electronics Engineers

Issue

11

Volume

47

Page range

3504-3515

Department affiliated with

  • Engineering and Design Publications

Notes

(c) 2016 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

2017-12-15

First Open Access (FOA) Date

2017-12-15

First Compliant Deposit (FCD) Date

2017-12-14

Usage metrics

    University of Sussex (Publications)

    Categories

    No categories selected

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC