Learning optimal variable admittance control for rotational motion in human-robot co-manipulation
نویسندگان
چکیده
منابع مشابه
Learning optimal variable admittance control for rotational motion in human-robot co-manipulation
In this paper the problem of variable admittance control in human-robot cooperation tasks is investigated, considering rotational motion of the robot’s end-effector. A Fuzzy Model Reference Learning algorithm is used to determine online the appropriate virtual damping of the admittance controller with partial state representation of the system. The learning algorithm is trained according to the...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2015
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2015.12.021