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Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification

Li, Yanan and Ganesh, Gowrishankar and Jarrassé, Nathanael and Haddadin, Sami and Albu-Schäffer, Alin and 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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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.

Item URL in elib:https://elib.dlr.de/119574/
Document Type:Article
Title:Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Li, YananUniversity of Sussex, Brighton, UKUNSPECIFIEDUNSPECIFIED
Ganesh, GowrishankarCNRS-AIST, Joint Robotics Laboratory, Tsukuba, JapaUNSPECIFIEDUNSPECIFIED
Jarrassé, NathanaelUniversity Pierre et Marie Curie, Paris, FranceUNSPECIFIEDUNSPECIFIED
Haddadin, SamiLeibniz University, HannoverUNSPECIFIEDUNSPECIFIED
Burdet, EtienneImperial College of Science, Technology and Medicine, London, UKUNSPECIFIEDUNSPECIFIED
Date:22 May 2018
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Adaptive control, biological systems control, contact tasks, force control, iterative learning control, robot 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:16 Aug 2018 15:03
Last Modified:23 Jul 2022 13:44

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