Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207179.2013.827799
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dc.titleImpedance adaptation for optimal robot-environment interaction
dc.contributor.authorGe, S.S.
dc.contributor.authorLi, Y.
dc.contributor.authorWang, C.
dc.date.accessioned2014-10-07T04:30:08Z
dc.date.available2014-10-07T04:30:08Z
dc.date.issued2014-02-01
dc.identifier.citationGe, 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
dc.identifier.issn00207179
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/82501
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1080/00207179.2013.827799
dc.sourceScopus
dc.subjectimpedance adaptation
dc.subjectoptimal control
dc.subjectrobot-environment interaction
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1080/00207179.2013.827799
dc.description.sourcetitleInternational Journal of Control
dc.description.volume87
dc.description.issue2
dc.description.page249-263
dc.description.codenIJCOA
dc.identifier.isiut000329780500003
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