Results 201 to 210 of about 56,160 (238)
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Learning Stable State-Dependent Variable Impedance Control for Compliant Manipulation
IEEE/ASME Transactions on MechatronicsState-dependent variable impedance control (VIC) has been shown as the necessary skill for compliant and dexterous robot operations. However, introducing a variable impedance law will raise the stability issue of the robot system, which introduces ...
Zhehao Jin +4 more
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Hierarchical Learning Based on Visual-Haptic Perception for Robotic Variable Impedance Control
IEEE Transactions on Industrial ElectronicsDexterous manipulation in unstructured environments poses significant challenges due to the limitations of traditional robotic control methods, which often rely on precise kinematic and dynamic models with predefined behaviors, impeding adaptability and ...
Xiang Li +3 more
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2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2021
Human-robot collaboration is an important area with great potential in intelligent manufacturing. Due to the diversity of collaboration tasks, robot collaboration skills should have the ability to adapt to different skills. However, problems such as skill expression and generalization are challenging. Meanwhile, the differences in the skills of various
Yan Meng, Jianhua Su, Jiaxi Wu
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Human-robot collaboration is an important area with great potential in intelligent manufacturing. Due to the diversity of collaboration tasks, robot collaboration skills should have the ability to adapt to different skills. However, problems such as skill expression and generalization are challenging. Meanwhile, the differences in the skills of various
Yan Meng, Jianhua Su, Jiaxi Wu
openaire +2 more sources
IEEE Systems, Man, and Cybernetics Magazine
Contact-rich manipulation tasks are difficult to program to be performed by robots. Traditional compliance control methods, such as impedance control, rely excessively on environmental models and are ineffective in the face of increasingly complex ...
Zhuoran Li +5 more
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Contact-rich manipulation tasks are difficult to program to be performed by robots. Traditional compliance control methods, such as impedance control, rely excessively on environmental models and are ineffective in the face of increasingly complex ...
Zhuoran Li +5 more
openaire +2 more sources
2022 IEEE/SICE International Symposium on System Integration (SII), 2022
In this paper, a variable impedance control method with simplex gradient based iterative learning is proposed to improve the performance of human-robot collaboration.
Tran Duc Liem +3 more
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In this paper, a variable impedance control method with simplex gradient based iterative learning is proposed to improve the performance of human-robot collaboration.
Tran Duc Liem +3 more
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Robotic Intelligence and Automation
Purpose This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex geometric environments. Design/methodology/approach The DRL-based variable impedance controller explores and pre-learns the optimal policy for impedance parameter tuning in ...
Yanghong Li +5 more
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Purpose This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex geometric environments. Design/methodology/approach The DRL-based variable impedance controller explores and pre-learns the optimal policy for impedance parameter tuning in ...
Yanghong Li +5 more
openaire +2 more sources
Configuration and Force-field Aware Variable Impedance Control with Faster Re-learning
Journal of Intelligent & Robotic Systems, 2023Shail Jadav +1 more
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Iterative Learning-Based Distributed Impedance Control for Robot Teams with Variable Trial Lengths
2025 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS)This article gives a novel distributed iterative learning impedance control scheme for a team of robot manipulators subject to varying trial lengths. The proposed approach enables each manipulator to achieve the desired impedance model by relying solely ...
Wenli Zhang +3 more
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Advanced Robotics, 2023
In recent years, robots with higher levels of sophistication in controlling the mechanical impedance of interaction have received increasing attention.
Shail V Jadav +3 more
semanticscholar +1 more source
In recent years, robots with higher levels of sophistication in controlling the mechanical impedance of interaction have received increasing attention.
Shail V Jadav +3 more
semanticscholar +1 more source
Spatial Repetitive Impedance Learning Control for Robot-Assisted Rehabilitation
IEEE/ASME transactions on mechatronics, 2023In robot-assisted rehabilitation and leg exoskeletons, humans and robots are required to collaboratively complete repetitive tasks with fixed periodic paths.
Jiantao Yang +3 more
semanticscholar +1 more source