Impedance learning for robots interacting with unknown environments

  • Li Y
  • Ge S
  • 25

    Readers

    Mendeley users who have this article in their library.
  • 29

    Citations

    Citations of this article.

Abstract

In this paper, impedance learning is investigated for robots interacting with unknown environments. A two-loop control framework is employed and adaptive control is developed for the inner-loop position control. The environments are described as time-varying systems with unknown parameters in the state-space form. The gradient-following and betterment schemes are employed to obtain a desired impedance model, subject to unknown environments. The desired interaction performance is achieved in the sense that a defined cost function is minimized. Simulation and experiment studies are carried out to verify the validity of the proposed method.

Author-supplied keywords

  • Adaptive control
  • impedance learning
  • interaction control
  • robotic control
  • unknown environment

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Yanan Li

  • Shuzhi Sam Ge

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free