Learning Optimal Impedance Control During Complex 3D Arm Movements

Humans use their limbs to perform various movements to interact with an external environment. Thanks to limb's variable and adaptive stiffness, humans can adapt their movements to the external unstable dynamics. The underlying adaptive mechanism has been investigated, employing a simple planar...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 6; H. 2; S. 1248 - 1255
Hauptverfasser:	Naceri, Abdeldjallil, Schumacher, Tobias, Li, Qiang, Calinon, Sylvain, Ritter, Helge
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adaptation Control stability Dynamics End effectors Force Human stiffness learning human-centered robotics Machine learning machine learning for robot control model learning for control modeling and simulating humans Nonlinear control Perturbation methods Predictive control Robot arms Robots Stiffness Task analysis Three-dimensional displays
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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