Please use this identifier to cite or link to this item:
|Title:||Impedance adaptation for optimal robot-environment interaction||Authors:||Ge, S.S.
|Issue Date:||1-Feb-2014||Citation:||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. https://doi.org/10.1080/00207179.2013.827799||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||URI:||http://scholarbank.nus.edu.sg/handle/10635/82501||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 Apr 16, 2019
WEB OF SCIENCETM
checked on Apr 9, 2019
checked on Mar 23, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.