A Unified Parametric Representation for Robotic Compliant Skills With Adaptation of Impedance and Force
نویسندگان
چکیده
Robotic compliant manipulation is a very challenging but urgent research spot in the domain of robotics. One difficulty lies lack unified representation for encoding and learning profiles. This article aims to introduce novel control framework address this problem: 1) we provide parametric that enables skill be encoded space allows robot learn skills based on motion force information collected from human demonstrations; 2) updating laws profiles, including impedance are derived biomimetic strategy motor principles. Our approach simultaneous adaptation feedforward online during robot’s reproduction demonstrated tasks deal with task dynamics external interferences. The proposed verified both simulation real-world scenarios.
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ژورنال
عنوان ژورنال: IEEE-ASME Transactions on Mechatronics
سال: 2022
ISSN: ['1941-014X', '1083-4435']
DOI: https://doi.org/10.1109/tmech.2021.3109160