Results 211 to 220 of about 56,160 (238)

Spatial hybrid adaptive impedance learning control for robots in repetitive interactive tasks.

ISA transactions, 2023
The existing model-based impedance learning control methods can provide variable impedance regulation for physical human-robot interaction (PHRI) in repetitive tasks without interactive force sensing, however, these methods require the completion of the ...
Jiantao Yang, Tairen Sun, Hongjun Yang
semanticscholar   +1 more source

CHEQ-ing the Box: Safe Variable Impedance Learning for Robotic Polishing

IFAC-PapersOnLine
Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making classical control challenging. Deep reinforcement learning
Emma Cramer, Lukas Jäschke, Sebastian Trimpe   +2 more
semanticscholar   +1 more source

Iterative learning of variable impedance control for human-robot cooperation

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
In this study, we propose a novel iterative learning scheme, which generates time-series data comprising the impedance value for human-robot cooperative work, where the human operator moves the end-effector from an initial position to a goal position.
Tasuku Yamawaki, Hiroki Ishikawa, Masahito Yashima   +2 more
openaire   +1 more source

Variable Impedance Learning from Human Demonstrations

International Symposium of Chinese CHI, 2019
Physical human-robot interaction (pHRI), allowing robots to cooperate with human beings to accomplish varies of tasks, requires safety and adaptability owing to the uncertainty and unpredictability of environment.
Caiyue Xu, Bin He, Zhipeng Wang, Yanmin Zhou, Gang Li   +4 more
semanticscholar   +1 more source

Learning Target-Directed Skill and Variable Impedance Control From Interactive Demonstrations for Robot-Assisted Soft Tissue Puncture Tasks

IEEE Transactions on Automation Science and Engineering
A framework is proposed in this paper for learning variable impedance in percutaneous puncture surgery, with the aim of simplifying the robotic puncture of soft tissues.
Xueqian Zhai, Li Jiang, Hongmin Wu, Haochen Zheng, Dong Liu, Xinyu Wu, Zhihao Xu, Xuefeng Zhou   +7 more
semanticscholar   +1 more source

Repetitive Impedance Learning-Based Physically Human–Robot Interactive Control

IEEE Transactions on Neural Networks and Learning Systems, 2023
Model-based impedance learning control can provide variable impedance regulation for robots through online impedance learning without interaction force sensing.
Tairen Sun, Jiantao Yang, Yongping Pan, Hongliu Yu   +3 more
semanticscholar   +1 more source

Iterative Learning Control for Cascaded Impedance-Controlled Compliant Exoskeleton With Adaptive Reaction to Spasticity

IEEE Transactions on Instrumentation and Measurement, 2023
The cascade impedance control (CIC) is a well-known architecture framework for rehabilitation exoskeleton with compliant joint (e.g., a series elastic actuator).
Lin Liu, Mathias Illian, Steffen Leonhardt, B. Misgeld   +3 more
semanticscholar   +1 more source

Online Learning of Feed-Forward Models for Task-Space Variable Impedance Control

2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019
During the initial trials of a manipulation task, humans tend to keep their arms stiff in order to reduce the effects of any unforeseen disturbances. After a few repetitions, humans perform the task accurately with much lower stiffness. Research in human motor control indicates that this behavior is supported by learning and continuously revising ...
Michael J Mathew, Saif Sidhik, Mohan Sridharan, Morteza Azad, Akinobu Hayashi, Jeremy Wyatt   +5 more
openaire   +1 more source

Q-Learning-Based Model Predictive Variable Impedance Control for Physical Human-Robot Collaboration (Extended Abstract)

Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence, 2023
Physical human-robot collaboration is increasingly required in many contexts. To implement an effective collaboration, the robot should be able to recognize the human’s intentions and guarantee safe and adaptive behavior along the intended motion directions.
Loris Roveda, Andrea Testa, Asad Ali Shahid, Francesco Braghin, Dario Piga   +4 more
openaire   +1 more source

Learning Acceleration-Constrained Motion Skill and Variable Impedance for Visual Gaspability-Driven Robotic Flexible Cable Disassembly

IEEE International Conference on Robotics and Biomimetics
The rapid growth of new-energy vehicles has led to a surge in retired power batteries, highlighting the limitations of manual disassembly. In particular, flexible signal cables are difficult to handle due to their complex geometry, poor standardization ...
Jiangming Zhang, Xueqian Zhai, Junyang Wang, Shaohua Kong, Wu Yan, Xu-Bin Lin, Serestina Viriri, Zhaoyang Liao, Xuefeng Zhou, Guangguang Yang, Hongmin Wu   +10 more
semanticscholar   +1 more source