Learning impedance control for physical robot-environment interaction

DOI10.1080/00207179.2011.642309MaRDI QIDQ5745567zbMATH OpenOpenAlexWikidataFDO

Authors Chenguang Yang, Yanan Li, Shuzhi Sam Ge

Publication date 30 January 2014

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2011.642309

zbMATH Keywords

impedance controllearning controlrobot-environment interaction

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Impedance adaptation for optimal robot-environment interaction
• Direct adaptive impedance control of robot manipulators
• Impedance Control: An Approach to Manipulation: Part III—Applications
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• Physical human-robot interaction force control method based on adaptive variable impedance

Cites work

• Adaptive iterative learning control for robot manipulators
• Adaptive Repetitive Control for a Class of Nonlinearly Parametrized Systems
• Direct adaptive impedance control of robot manipulators
• Fuzzy unidirectional force control of constrained robotic manipulators
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Robust control of dynamically interacting systems
• Robust learning control for robotic manipulators with an extension to a class of non-linear systems
• Stability analysis of position and force control for robot arms
• Stability and Performance Limits of Interaction Controllers

Cited in

(10)

• On iterative learning control for MIMO nonlinear systems in the presence of time-iteration-varying parameters
• A brief review of neural networks based learning and control and their applications for robots
• Physical human-robot interaction force control method based on adaptive variable impedance
• Backstepping Nussbaum gain dynamic surface control for a class of input and state constrained systems with actuator faults
• Robust impedance control of robot manipulators using differential equations as universal approximator
• Learning variable impedance control based on reinforcement learning
• Impedance adaptation for optimal robot-environment interaction
• Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints
• Impedance with finite-time control scheme for robot-environment interaction
• Identification for stable second-order nonlinear systems

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