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Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions

Yang, Chenguang and Ganesh, Gowrishankar and Haddadin, Sami and Parusel, Sven and Albu-Schäffer, Alin Olimpiu and 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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Abstract

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

Item URL in elib:https://elib.dlr.de/113236/
Document Type:Article
Title:Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Yang, ChenguangUNSPECIFIEDUNSPECIFIED
Ganesh, GowrishankarUNSPECIFIEDUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Parusel, SvenUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Burdet, Etiennedepartment of bioengineering, imperial college londonUNSPECIFIED
Date:October 2011
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:27
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:Feedforward force, human motor control, impedance, robotic control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:17 Jul 2017 17:48
Last Modified:06 Sep 2019 15:18

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