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Title: Intelligent Control of Robots Interacting with Unknown Environments
Authors: LI YANAN
Keywords: physical human-robot interaction, human-robot collaboration, robot control, impedance control, iterative learning, adaptive control
Issue Date: 9-Jan-2013
Citation: LI YANAN (2013-01-09). Intelligent Control of Robots Interacting with Unknown Environments. ScholarBank@NUS Repository.
Abstract: Robots are expected to be safely deployed in myriad applications ranging from elderly care, entertainment to education, and thus their interaction with unknown environments has to be carefully dealt with. While impedance control is acknowledged to be a promising method for interaction control, one critical problem is the impedance control design considering that the robot dynamics are typically poor-modeled. In the first part of this thesis, iterative learning is proposed to cope with this problem. Given a desired impedance model, robot dynamics can be controlled to follow it by the method developed in the first part. But how to obtain a desired impedance model in the presence of unknown and dynamically changing environments is yet to be answered. This issue will be discussed in the second part of this thesis. In particular, impedance learning trajectory adaption will be investigated to obtain the desired impedance parameters and rest position, respectively.
Appears in Collections:Ph.D Theses (Open)

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