Results 11 to 20 of about 56,160 (238)
Model-Based Reinforcement Learning Variable Impedance Control for Human-Robot Collaboration
Journal of Intelligent & Robotic Systems, 2020 Industry 4.0 is taking human-robot collaboration at the center of the production environment. Collaborative robots enhance productivity and flexibility while reducing human's fatigue and the risk of injuries, exploiting advanced control methodologies. However, there is a lack of real-time model-based controllers accounting for the complex human-robot ...
Roveda Loris +6 more
semanticscholar +7 more sources
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 +4 more sources
MachinesTraditional fracture reduction relies heavily on the surgeon’s experience, which hinders the transmission of skills. This specialization bottleneck, coupled with the high demands on physical strength, significantly limits the efficiency of daily ...
Zhao Tan +7 more
doaj +2 more sources
Variable Impedance Control Combining Reinforcement Learning and Gaussian Process Regression
2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)Variable Impedance Control (VIC) approaches offer effective means for enabling robots to perform physical interaction tasks safely and proficiently, by including timevarying gains within an impedance control loop. However, determining the optimal gain profiles can be tedious and timeconsuming.
De Risi, Paolino +4 more
openaire +5 more sources
Robot Variable Impedance Control and Generalizing from Human–Robot Interaction Demonstrations
MathematicsThe purpose of this study was to ensure the compliance and safety of a robot’s movements during interactions with the external environment. This paper proposes a control strategy for learning variable impedance characteristics from multiple sets of ...
Feifei Zhong, Lingyan Hu, Yingli Chen
doaj +2 more sources
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
arXiv.orgReinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However, this model-free paradigm often risks instability and unsafe exploration due to the time-varying nature of impedance ...
Kumar, Shreyas, Prakash, Ravi
openaire +3 more sources
Da-Vil: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
2025 IEEE International Conference on Robotics and Automation (ICRA)Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects, assembling components, and performing human-like interactions.
Karim, Md Faizal +8 more
openaire +3 more sources
2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)Accepted at the 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)
Dalle Vedove, Matteo +4 more
openaire +4 more sources
Variable impedance learning control for robotic arms from GMR-encoded behavior priors
Izvestiâ vysših učebnyh zavedenij. PriborostroenieAli Waddah, S.A. Kolyubin
openaire +2 more sources