[Letter] Adaptive NN impedance control for an SEA-driven robot

Yu, Xinbo, He, Wei, Li, Yanan, Xue, Chengqian, Sun, Yongkun and Wang, Yu (2020) [Letter] Adaptive NN impedance control for an SEA-driven robot. SCIENCE CHINA Information Sciences, 63. a159207. ISSN 1674-733X

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In this letter, we propose an adaptive active impedance control combined with passive mechanical impedance, and use neural networks (NNs) to compensate for uncertainties of compliant robot’s dynamics. Taking these into account, we propose an online adaptive law to update NN weights and a complete framework about adaptive impedance control design. Simulations show the proposed method can ensure that both the accuracy and safety can be achieved.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Lucy Arnold
Date Deposited: 06 Nov 2018 14:09
Last Modified: 26 Feb 2021 02:00
URI: http://sro.sussex.ac.uk/id/eprint/79949

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