Continuous Critic Learning for Robot Control in Physical Human-Robot Interaction

被引：0

作者：

Wang, Chen ^{[1
,2
]}

Li, Yanan ^{[1
,3
]}

Ge, Shuzhi Sam ^{[1
,2
]}

Tee, Keng Peng ^{[4
]}

Lee, Tong Heng ^{[2
]}

机构：

[1] Natl Univ Singapore, Interact Digital Media Inst, Social Robot Lab, Singapore 119613, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 119077, Singapore

[3] Natl Univ Singapore, NUS Grad Sch Integrative Sci & Engn, Singapore 119613, Singapore

[4] Agcy Sci Technol & Res, Inst Infocomm Res, Singapore 138632, Singapore

来源：

2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013) | 2013年

关键词：

robot-environment interaction; continuous critic learning; impedance adaptation; IMPEDANCE CONTROL; OPTIMIZATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, optimal impedance adaptation is investigated for interaction control in constrained motion. The external environment is modeled as a linear system with parameter matrices completely unknown and continuous critic learning is adopted for interaction control. The desired impedance is obtained which leads to an optimal realization of the trajectory tracking and force regulation. As no particular system information is required in the whole process, the proposed interaction control provides a feasible solution to a large number of applications. The validity of the proposed method is verified through simulation studies.

引用

页码：833 / 838

页数：6

共 13 条

[1] Complementary stability and loop shaping for improved human-robot interaction
Buerger, Stephen P.
Hogan, Neville
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (02) : 232 - 244
[2] ROBUST-CONTROL OF DYNAMICALLY INTERACTING SYSTEMS
COLGATE, JE
HOGAN, N
[J]. INTERNATIONAL JOURNAL OF CONTROL, 1988, 48 (01) : 65 - 88
[3] A robotics toolbox for MATLAB
Corke, PI
[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1996, 3 (01) : 24 - 32
[4] Craig J. J., 1979, COMP SOFTW APPL C, P446, DOI DOI 10.1109/CMPSAC.1979.762539
[5] HOGAN N, 1985, ASME, V107, P1
[6] Position/force control of uncertain constrained flexible joint robots
Huang, L.
Ge, S. S.
Lee, T. H.
[J]. MECHATRONICS, 2006, 16 (02) : 111 - 120
[7] JOHANSSON R, 1994, IEEE INT CONF ROBOT, P616, DOI 10.1109/ROBOT.1994.351417
[8] Lee Jae Young, 2012, AUTOMATICA
[9] Lee T. H., 1998, Adaptive Neural Network Control of RoboticManipulators, V19
[10] IMPEDANCE CONTROL WITH ADAPTATION FOR ROBOTIC MANIPULATIONS
LU, WS
MENG, QH
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (03): : 408 - 415

← 1 2 →