Results 11 to 20 of about 11,571 (267)

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 ...
Loris Roveda, Jeyhoon Maskani, Paolo Franceschi, Arash Abdi, Francesco Braghin, Lorenzo Molinari Tosatti, Nicola Pedrocchi   +6 more
core   +6 more sources

Exploiting sensorimotor stochasticity for learning control of variable impedance actuators [PDF]

2010 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Novel anthropomorphic robotic systems increasingly employ variable impedance actuation in order to achieve robustness to uncertainty, superior agility and efficiency that are hallmarks of biological systems. Controlling and modulating impedance profiles such that it is optimally tuned to the controlled plant is crucial to realise these benefits.
Djordje Mitrovic, Stefan Klanke, Matthew Howard 0001, Sethu Vijayakumar   +3 more
core   +4 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.
Paolino De Risi, Fabio Amadio, Gianluca Garofalo, Fanny Ficuciello, Pietro Falco   +4 more
core   +6 more sources

Q-Learning-based model predictive variable impedance control for physical human-robot collaboration [PDF]

Artificial Intelligence, 2022
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Loris Roveda, Andrea Testa, Asad Ali Shahid, Francesco Braghin, Dario Piga   +4 more
core   +3 more sources

Variable-Impedance and Force Control for Robust Learning of Contact-rich Manipulation Tasks from User Demonstration [PDF]

IFAC-PapersOnLine, 2020
Abstract This paper proposes a Cartesian variable-impedance and force controller that enables manipulators to track position and force references demonstrated by a user through kinesthetic teaching. The proposed approach deploys the variability of user demonstrations to adapt the compliance profile of the manipulator to uncertainties and utilizes ...
Enayati N., Mariani S., Wahrburg A., Zanchettin A. M.   +3 more
core   +3 more sources

Tendon-Driven Variable Impedance Control Using Reinforcement Learning [PDF]

Robotics: Science and Systems VIII, 2012
—Biological motor control is capable of learning complex movements containing contact transitions and unknown force requirements while adapting the impedance of the system.
Eric Rombokas, Mark Malhotra, Evangelos A. Theodorou, Yoky Matsuoka, Emo Todorov   +4 more
core   +3 more sources

Variable Impedance Control - A Reinforcement Learning Approach

Robotics: Science and Systems VI, 2010
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 and safely in ...
Jonas Buchli, Evangelos A. Theodorou, Freek Stulp, Stefan Schaal   +3 more
  +4 more sources

Modified Dynamic Movement Primitive-Based Closed Ankle Reduction Technique Learning and Variable Impedance Control for a Redundant Parallel Bone-Setting Robot [PDF]

Machines
Traditional 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, Yahui Zhang, Jiahui Yuan, Xu Song, Jialong Zhang, Guilin Wen, Xiaoyan Hu, Hanfeng Yin   +7 more
doaj   +2 more sources

Lower-limb prosthetic mechanisms: recent progress, control innovations and barriers to real-world adoption [PDF]

BioMedical Engineering OnLine
Lower-limb impairments caused by amputation, stroke or paralysis severely impact mobility and independence. Assistive technologies for these conditions include passive prostheses, powered limbs and robotic exoskeletons, each offering distinct advantages ...
Syed Riyas Ahamed, Sandip Saha, Awani Bhushan   +2 more
doaj   +2 more sources

Da-Vil: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control [PDF]

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.
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi, Autrio Das, Gaurav Singh 0012, Srinath Sridhar 0002, Arun Kumar Singh 0001, Nagamanikandan Govindan, K. Madhava Krishna   +8 more
  +5 more sources