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Learning Stable State-Dependent Variable Impedance Control for Compliant Manipulation [PDF]
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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Evolution Strategies Learning With Variable Impedance Control for Grasping Under Uncertainty
IEEE Transactions on Industrial Electronics, 2019 During a robot's interaction with the environment, it is necessary to ensure the safety and robustness of the robot's movements. To improve the safety and adaptiveness of robots in performing complex movement tasks, a novel method called covariance matrix adaptation-evolution strategies (CMA-ES) for learning complex and high-dimensional motor skills is
Yingbai Hu +3 more
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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 +5 more
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Configuration and Force-field Aware Variable Impedance Control with Faster Re-learning
Journal of Intelligent & Robotic Systems, 2023 Variable impedance control (VIC) is rapidly becoming an important ingredient for robotic manipulation in unstructured and uncertain environments. In such situations, it is often necessary to rapidly adapt to different impedance levels as per the task ...
Shail V. Jadav +1 more
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Robotic Intelligence and AutomationPurpose 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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Composite Learning Variable Impedance Robot Control With Stability and Passivity Guarantees
IEEE Robotics and Automation Letters, 2023 Yongping Pan 0001 +3 more
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2022 IEEE/SICE International Symposium on System Integration (SII), 2022 Tran Duc Liem +3 more
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Iterative learning of variable impedance control for human-robot cooperation
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016In 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 +2 more
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Hierarchical Learning Based on Visual-Haptic Perception for Robotic Variable Impedance Control
IEEE Transactions on Industrial ElectronicsXiang Li 0165 +3 more
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