Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator
نویسندگان
چکیده
منابع مشابه
Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator
In order to get natural and intuitive physical interaction in the pose adjustment of the minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed in this paper. The proposed model provides continuous variable virtual damping to the admittance controller to respond to human intentions, and it effectively enhances the comfort level du...
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ژورنال
عنوان ژورنال: Sensors
سال: 2017
ISSN: 1424-8220
DOI: 10.3390/s17040844