Aiming at the problem of robot compliance control in unknown environment, an impedance control method based on improved RBF neural network (RBFNN) is proposed in this paper. The learning rates, momentum factors and weights of the neural network are ...

In this paper, we present an event-triggered critic learning impedance control algorithm for a lower limb rehabilitation exoskeleton robot in an interactive environment, where the control objective is specified by a desired impedance model. In ...

Robot peg-in-hole assembly has always been a research hotspot. With the application of reinforcement learning in the field of robotics in recent years, the assembly strategy based on reinforcement learning has gained significant attention. However,...

This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea operation that requires a contact between the manipulator’s tip (e.g., the hand) and various types of ...

When a robot end-effector contacts human skin, it is difficult to adjust the contact force autonomously in an unknown environment. Therefore, a robot force control algorithm based on reinforcement learning with a state transition model is ...

Traditional impedance control methods often fail to accurately track force signals in unknown or changing environments, resulting in failure or instability in tasks such as coordinated handling. To solve the above problems, this paper adds the RBF ...

In human-robot collaborative grinding tasks, the compliance of the robot to the operator is required, while the robot end effector is limited to a certain space to avoid danger. Therefore, an adaptive impedance control method, in which the ...

Robotic tasks which involve uncertainty – due to variation in goal, environment configuration, or confidence in task model – may require human input to instruct or adapt the robot. In tasks with physical contact, several existing ...

• An uncertain task is demonstrated, and GP models are fit for forces in each mode.

This paper presents a novel impedance control strategy to improve the performance of a robot manipulator. Impedance control and admittance control have complementary effects on the stability and performance of a control system. Impedance control ...

For underwater environments, it is difficult to acquire accurate contact force vectors between the end effecter and the object by multidimensional force sensors. Precise force measurement is the key point for accurate teleoperation ...

• A sliding mode disturbance observer is designed to estimate the contact force.
• ...

The vibration isolation control for wheel-legged robot has been widely investigated when adapting to the undulating slope terrain. How to solve the lag problem of low accuracy of foot-end force convergence to fixed target force in traditional ...

Compliance has become a widespread topic in industrial robotics in the last decades, both in hardware and in software . In terms of software, virtual compliance is applied widely, mostly the various implementations of impedance control algorithms. ...

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the ...

• Robots are performing an increasing number of in-contact manipulation tasks.
• ...

This paper describes an impedance control strategy based on model reference adaptation in unstructured environment, aimed at the uncertainty of the environmental stiffness and the unknown of the dynamic change of the environmental position during ...

In this paper, to address motor dysfunction caused by factors such as stroke or traffic accidents, a kind of upper limb rehabilitation robot is designed for rehabilitation training. The rehabilitation robot is driven by series elastic actuator (...

• The contact force model of gripper is established and the calculation method of grasping force is optimized.

In order to realize the compliant grasping of apple harvesting robot and reduce the mechanical damage in the process of grasping, a variable damping impedance control strategy for gripper grasping force tracking is proposed based on ...

Physical human–robot and/or robot–environment interactions require robust contact stability because an unstable interaction could harm the human or environment. Maintaining effective contact performance while preserving robust contact ...

In order to approach the performance of biological locomotion in legged robots, better integration between body design and control is required. In that respect, understanding the mechanics and control of human locomotion will help us build legged ...

This paper proposes a novel hybrid controller for promoting safe human-robot interaction. The hybrid controller modifies a model-based impedance controller such that it uses impedance control but switches to sliding mode control under non-nominal ...

Surface finishing, as the final stage in the manufacturing pipeline, is a key process in determining the quality and life span of a product. Such a task is characterized by low contact forces and minimal material removal from the ...

• A curve tracing approach, where an impedance-controlled robot undergoes a constrained motion along a parametric-curve in response to an external force (from ...