Yang, Chenguang and Gowrishankar, Ganesh and Haddadin, Sami and Parusel, Sven and Albu-Schäffer, Alin and Burdet, Etienne (2011) Experimental Safety Study on Soft-tissue Injury in Robotics. International Journal of Robotics Research, 27 (5), pp. 918-930. SAGE Publications. ISSN 0278-3649.
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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 stabilitymargin. Simulations showthat this controller is a good model of humanmotor 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/74107/ | ||||||||||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||||||||||
Title: | Experimental Safety Study on Soft-tissue Injury in Robotics | ||||||||||||||||||||||||||||
Authors: |
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Date: | October 2011 | ||||||||||||||||||||||||||||
Journal or Publication Title: | International Journal of Robotics Research | ||||||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||||||
Volume: | 27 | ||||||||||||||||||||||||||||
Page Range: | pp. 918-930 | ||||||||||||||||||||||||||||
Publisher: | SAGE Publications | ||||||||||||||||||||||||||||
ISSN: | 0278-3649 | ||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||
Keywords: | Feedforward force, human motor control, impedance, robotic control, Adaptive Regelung, Bioinspirierte Regelung, Impedanzregelung | ||||||||||||||||||||||||||||
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 - RMC - Kognitive Intelligenz und Autonomie (old), R - RMC - Mechatronik und Telerobotik (old) | ||||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||||||||||||
Deposited On: | 20 Jan 2012 12:54 | ||||||||||||||||||||||||||||
Last Modified: | 11 Sep 2023 13:21 |
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