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Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots

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Book cover Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 79))

Abstract

This paper develops and analyses a biomimetic learning controller for robots. This controller can simultaneously adapt reference trajectory, impedance and feedforward force to maintain stability and minimize the weighted summation of interaction force and performance errors. This controller was inspired from our studies of human motor behavior, especially the human motor control approach dealing with unstable situations typical of tool use. Simulations show that the developed controller is a good model of human motor adaptation. Implementations demonstrate that it can also utilise the capabilities of joint torque controlled robots and variable impedance actuators to optimally adapt interaction with dynamic environments and humans.

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Author information

Authors and Affiliations

  1. Imperial College London, London, UK

    Etienne Burdet & Chenguang Yang

  2. Biological ICT group, NICT, and CNS-ATR Japan, Kyoto, Japan

    Gowrishankar Ganesh

  3. University of Plymouth, Plymouth, UK

    Chenguang Yang

  4. DLR, Wessling, Germany

    Alin Albu-Schäffer

Authors
  1. Etienne Burdet
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  2. Gowrishankar Ganesh
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  3. Chenguang Yang
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  4. Alin Albu-Schäffer
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Corresponding author

Correspondence to Etienne Burdet .

Editor information

Editors and Affiliations

  1. Artificial Intelligence Laboratory, Stanford University Dept. Computer Science, Stanford, California, USA

    Oussama Khatib

  2. Department of Mechanical Engineering, University of Pennsylvania GRASP Laboratory, Philadelphia, Pennsylvania, USA

    Vijay Kumar

  3. Department of Computer Science, University of Southern California MC 290, California, USA

    Gaurav Sukhatme

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© 2014 Springer-Verlag GmbH Berlin Heidelberg

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Burdet, E., Ganesh, G., Yang, C., Albu-Schäffer, A. (2014). Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_23

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  • DOI: https://doi.org/10.1007/978-3-642-28572-1_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-28571-4

  • Online ISBN: 978-3-642-28572-1

  • eBook Packages: EngineeringEngineering (R0)

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