Variable Impedance Control and Learning—A Review [PDF]
Frontiers in Robotics and AI, 2020 Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in
Fares J. Abu-Dakka, Matteo Saveriano
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Data-Efficient Reinforcement Learning for Variable Impedance Control
IEEE AccessOne of the most crucial steps toward achieving human-like manipulation skills in robots is to incorporate compliance into the robot controller. Compliance not only makes the robot’s behaviour safe but also makes it more energy efficient.
Akhil S. Anand +3 more
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Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks [PDF]
IEEE Robotics and Automation Letters, 2021 Accepted by IEEE Robotics and Automation Letters.
Xiang Zhang +3 more
semanticscholar +6 more sources
Efficient Force Control Learning System for Industrial Robots Based on Variable Impedance Control [PDF]
Sensors, 2018 Learning variable impedance control is a powerful method to improve the performance of force control. However, current methods typically require too many interactions to achieve good performance. Data-inefficiency has limited these methods to learn force-
Chao Li +4 more
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Learning Variable Impedance Control for Contact Sensitive Tasks [PDF]
IEEE Robotics and Automation Letters, 2020 Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact interactions. Though in principle a policy directly outputting joint torques should be able to learn to perform these tasks ...
Bogdanovic, M. +2 more
semanticscholar +8 more sources
Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues [PDF]
IEEE/ASME Transactions on Mechatronics, 2022 In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and transfer these adaptive capabilities to the robot, by learning both the motion and change of impedance.
Wu, Rui, Billard, Aude, Wu, Rui
semanticscholar +4 more sources
Q-Learning-based model predictive variable impedance control for physical human-robot collaboration
Artificial Intelligence, 2022 zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Loris Roveda +4 more
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Variable impedance control on contact-rich manipulation of a collaborative industrial mobile manipulator: An imitation learning approach [PDF]
Robotics and Computer-Integrated ManufacturingVariable impedance control (VIC) endows robots with the ability to adjust their compliance, enhancing safety and adaptability in contact-rich tasks. However, determining suitable variable impedance parameters for specific tasks remains challenging.
Zhengxue Zhou, Xingyu Yang, Xuping Zhang
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Efficient learning variable impedance control for industrial robots [PDF]
Bulletin of the Polish Academy of Sciences: Technical Sciences, 2019 Compared with the robots, humans can learn to perform various contact tasks in unstructured environments by modulating arm impedance characteristics. In this article, we consider endowing this compliant ability to the industrial robots to effectively ...
C. Li, Z. Zhang, G. Xia, X. Xie, Q. Zhu
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Impedance Learning-Based Hybrid Adaptive Control of Upper Limb Rehabilitation Robots
ActuatorsThis paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodic ...
Zhenhua Jiang +3 more
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