Li, Yanan und Ganesh, Gowrishankar und Jarrassé, Nathanael und Haddadin, Sami und Albu-Schäffer, Alin und Burdet, Etienne (2018) Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Transactions on Robotics, PP (99). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2018.2830405. ISSN 1552-3098.
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Kurzfassung
Humans can skilfully use tools and interact with the environment by adapting their movement trajectory, contact force, and impedance. Motivated by the human versatility, we develop here a robot controller that concurrently adapts feedforward force, impedance, and reference trajectory when interacting with an unknown environment. In particular, the robot’s reference trajectory is adapted to limit the interaction force and maintain it at a desired level, while feedforward force and impedance adaptation compensates for the interaction with the environment. An analysis of the interaction dynamics using Lyapunov theory yields the conditions for convergence of the closed-loop interaction mediated by this controller. Simulations exhibit adaptive properties similar to human motor adaptation. The implementation of this controller for typical interaction tasks including drilling, cutting, and haptic exploration shows that this controller can outperform conventional controllers in contact tooling.
elib-URL des Eintrags: | https://elib.dlr.de/119574/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 22 Mai 2018 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | PP | ||||||||||||||||||||||||||||
DOI: | 10.1109/TRO.2018.2830405 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Adaptive control, biological systems control, contact tasks, force control, iterative learning control, robot 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: | 16 Aug 2018 15:03 | ||||||||||||||||||||||||||||
Letzte Änderung: | 23 Jul 2022 13:44 |
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