Yang, Chenguang und Ganesh, Gowrishankar und Haddadin, Sami und Parusel, Sven und Albu-Schäffer, Alin Olimpiu und Burdet, Etienne (2011) Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions. IEEE Transactions on Robotics, 27 (5). IEEE - Institute of Electrical and Electronics Engineers. ISSN 1552-3098.
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Kurzfassung
Abstract— This paper presents a novel human-like learning controller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin. Simulations show that this controller is a good model of human motor adaptation. Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, without requiring interaction force sensing
elib-URL des Eintrags: | https://elib.dlr.de/113236/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Oktober 2011 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 27 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Feedforward force, human motor control, impedance, robotic control | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||||||||||
Hinterlegt am: | 17 Jul 2017 17:48 | ||||||||||||||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:22 |
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