Target focus capture system based on enhancement learning and impedance variable structure control [PDF]
, 2023 Abstract For the robotic detecting and grasping of the digestive tract, a cyber-physical system of focus capturing based on a physician's vision and the high-performance robot impedance control method are proposed in this study. The structure of the cyber-physical system for the focus information is given, which includes the physician, the ...
Zhihuan Zhang, Chao Hu, Sheng Zhang
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Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks [PDF]
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 IROS19
Roberto Martín-Martín +5 more
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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
Impedance Learning-Based Hybrid Adaptive Control of Upper Limb Rehabilitation Robots
ActuatorsThis paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodic ...
Zhenhua Jiang +3 more
doaj +2 more sources
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning [PDF]
CoRRReinforcement 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 ...
Shreyas Kumar, Ravi Prakash
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Variable impedance control on contact-rich manipulation of a collaborative industrial mobile manipulator: An imitation learning approach [PDF]
Robotics and Computer-Integrated ManufacturingVariable impedance control (VIC) endows robots with the ability to adjust their compliance, enhancing safety and adaptability in contact-rich tasks. However, determining suitable variable impedance parameters for specific tasks remains challenging.
Zhengxue Zhou, Xingyu Yang, Xuping Zhang
+4 more sources
Grasping Force Optimization and DDPG Impedance Control for Apple Picking Robot End-Effector
AgricultureTo minimize mechanical damage caused by an apple picking robot end-effector during the apple grasping process, and on the basis of optimizing the minimum stable grasping force of apple, a variable impedance control strategy based on a reinforcement ...
Xiaowei Yu +5 more
doaj +2 more sources
Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios: Challenges and Opportunities [PDF]
IEEE Robotics and Automation Letters, 2022 Abu-Dakka, Fares J. +5 more
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Q-Learning-Based Model Predictive Variable Impedance Control for Physical Human-Robot Collaboration (Extended Abstract) [PDF]
, 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 desired directions of ...
Loris Roveda +4 more
openalex +2 more sources
Mechanical Engineering Journal, 2023 Human-Robot Collaboration (HRC) systems are becoming widespread in industrial applications owing to the advantages of enhancing work productivity and reducing production expenses.
Liem Duc TRAN +3 more
doaj +1 more source