Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207179.2011.642309
Title: Learning impedance control for physical robot-environment interaction
Authors: Li, Y.
Sam Ge, S. 
Yang, C.
Keywords: impedance control
learning control
robot-environment interaction
Issue Date: Feb-2012
Source: Li, Y., Sam Ge, S., Yang, C. (2012-02). Learning impedance control for physical robot-environment interaction. International Journal of Control 85 (2) : 182-193. ScholarBank@NUS Repository. https://doi.org/10.1080/00207179.2011.642309
Abstract: In this article, learning impedance control is proposed for physical robot-environment interaction. Learning mechanism is developed such that the knowledge of the robot structure is not required. With the developed method, the dynamics of the robot arm is governed to follow a target impedance model and the interaction control objective is achieved. The control performance is discussed through the rigorous analysis. The validity of the proposed method is verified by simulation studies. © 2012 Taylor and Francis Group, LLC.
Source Title: International Journal of Control
URI: http://scholarbank.nus.edu.sg/handle/10635/56476
ISSN: 00207179
DOI: 10.1080/00207179.2011.642309
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

27
checked on Apr 18, 2018

WEB OF SCIENCETM
Citations

26
checked on Apr 18, 2018

Page view(s)

44
checked on Mar 11, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.