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Waypoints updating based on Adam and ILC for path learning in physical human-robot interaction
conference contribution
posted on 2023-06-09, 23:12 authored by Jingkang Xia, Chenjian Song, Deqing Huang, XUEYAN XING, Lei Ma, Yanan LiYanan LiThis paper presents a novel method for learning and tracking of the desired path of the human partner in physical human-robot interaction. Combining the Adam optimization algorithm with iteration learning control (ILC), a path learning method is designed to generate and update reference waypoints according to the human partner’s desired path. This method firstly uses the Adam optimization algorithm to update the robot’s reference waypoints in an online manner. Then, an ILC is developed to further modify the waypoints and reduce the difference between the robot’s actual path and the human partner’s desired path in an iterative manner. Simulations and experiments on a 7-DOF Sawyer robot are carried out to show the effectiveness of our proposed method.
Funding
The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE International Conference on Robotics and Automation (ICRA)ISSN
1050-4729Publisher
IEEEExternal DOI
Page range
3359-3365Event name
IEEE International Conference on Robotics and Automation (ICRA)Event location
Xi'an, ChinaEvent type
conferenceEvent date
May 30 - June 5 2021ISBN
9781728190785Department 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 worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-03-02First Open Access (FOA) Date
2021-04-09First Compliant Deposit (FCD) Date
2021-03-02Usage metrics
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