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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 [PDF]
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, Liting Sun, Zhian Kuang
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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 [PDF]
International Journal of Robotics Research, 2011 One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly ...
Jonas Buchli +2 more
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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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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 ...
Miroslav Bogdanovic +2 more
+7 more sources
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing [PDF]
IEEE Robotics and Automation Letters, 2022 The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including unknown spatially-varying friction properties and ...
Weixuan Zhang +3 more
+6 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
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Model-based variable impedance learning control for robotic manipulation
Robotics and Autonomous Systems, 2023 The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial for enabling real-world force interaction tasks with human-like dexterity.
Akhil S. Anand +2 more
openaire +3 more sources