Please use this identifier to cite or link to this item:
Title: Impedance adaptation for optimal robot-environment interaction
Authors: Ge, S.S. 
Li, Y.
Wang, C.
Keywords: impedance adaptation
optimal control
robot-environment interaction
Issue Date: 1-Feb-2014
Source: Ge, S.S., Li, Y., Wang, C. (2014-02-01). Impedance adaptation for optimal robot-environment interaction. International Journal of Control 87 (2) : 249-263. ScholarBank@NUS Repository.
Abstract: In this paper, impedance adaptation is investigated for robots interacting with unknown environments. Impedance control is employed for the physical interaction between robots and environments, subject to unknown and uncertain environments dynamics. The unknown environments are described as linear systems with unknown dynamics, based on which the desired impedance model is obtained. A cost function that measures the tracking error and interaction force is defined, and the critical impedance parameters are found to minimise it. Without requiring the information of the environments dynamics, the proposed impedance adaptation is feasible in a large number of applications where robots physically interact with unknown environments. The validity of the proposed method is verified through simulation studies. © 2013 © 2013 Taylor & Francis.
Source Title: International Journal of Control
ISSN: 00207179
DOI: 10.1080/00207179.2013.827799
Appears in Collections:Staff Publications

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


checked on Mar 7, 2018


checked on Jan 31, 2018

Page view(s)

checked on Mar 11, 2018

Google ScholarTM



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