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Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCAS.2013.6704029
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dc.titleContinuous critic learning for robot control in physical human-robot interaction
dc.contributor.authorWang, C.
dc.contributor.authorLi, Y.
dc.contributor.authorGe, S.S.
dc.contributor.authorTee, K.P.
dc.contributor.authorLee, T.H.
dc.date.accessioned2014-10-07T04:42:50Z
dc.date.available2014-10-07T04:42:50Z
dc.date.issued2013
dc.identifier.citationWang, C.,Li, Y.,Ge, S.S.,Tee, K.P.,Lee, T.H. (2013). Continuous critic learning for robot control in physical human-robot interaction. International Conference on Control, Automation and Systems : 833-838. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/ICCAS.2013.6704029" target="_blank">https://doi.org/10.1109/ICCAS.2013.6704029</a>
dc.identifier.isbn9788993215052
dc.identifier.issn15987833
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/83582
dc.description.abstractIn this paper, optimal impedance adaptation is investigated for interaction control in constrained motion. The external environment is modeled as a linear system with parameter matrices completely unknown and continuous critic learning is adopted for interaction control. The desired impedance is obtained which leads to an optimal realization of the trajectory tracking and force regulation. As no particular system information is required in the whole process, the proposed interaction control provides a feasible solution to a large number of applications. The validity of the proposed method is verified through simulation studies. © 2013 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ICCAS.2013.6704029
dc.sourceScopus
dc.subjectcontinuous critic learning
dc.subjectimpedance adaptation
dc.subjectrobot-environment interaction
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/ICCAS.2013.6704029
dc.description.sourcetitleInternational Conference on Control, Automation and Systems
dc.description.page833-838
dc.identifier.isiutNOT_IN_WOS
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