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Impedance learning for human-guided robots in contact with unknown environments

Xing, Xueyan; Burdet, Etienne; Si, Weiyong; Yang, Chenguang; Li, Yanan

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Authors

Xueyan Xing

Etienne Burdet

Weiyong Si

Yanan Li



Abstract

Previous works have developed impedance control to increase safety and improve performance in contact tasks, where the robot is in physical interaction with either an environment or a human user. This article investigates impedance learning for a robot guided by a human user while interacting with an unknown environment. We develop automatic adaptation of robot impedance parameters to reduce the effort required to guide the robot through the environment, while guaranteeing interaction stability. For nonrepetitive tasks, this novel adaptive controller can attenuate disturbances by learning appropriate robot impedance. Implemented as an iterative learning controller, it can compensate for position dependent disturbances in repeated movements. Experiments demonstrate that the robot controller can, in both repetitive and nonrepetitive tasks: first, identify and compensate for the interaction, second, ensure both contact stability (with reduced tracking error) and maneuverability (with less driving effort of the human user) in contact with real environments, and third, is superior to previous velocity-based impedance adaptation control methods.

Citation

Xing, X., Burdet, E., Si, W., Yang, C., & Li, Y. (2023). Impedance learning for human-guided robots in contact with unknown environments. IEEE Transactions on Robotics, 39(5), 3705 - 3721. https://doi.org/10.1109/tro.2023.3281483

Journal Article Type Article
Acceptance Date Apr 28, 2023
Online Publication Date Jun 23, 2023
Publication Date Oct 31, 2023
Deposit Date Jun 26, 2023
Publicly Available Date Jun 28, 2023
Journal IEEE Transactions on Robotics
Print ISSN 1552-3098
Electronic ISSN 1941-0468
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 39
Issue 5
Pages 3705 - 3721
DOI https://doi.org/10.1109/tro.2023.3281483
Keywords Human–robot–environment interaction control, impedance control, learning control
Public URL https://uwe-repository.worktribe.com/output/10888902
Publisher URL https://ieeexplore.ieee.org/document/10160165

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Copyright Statement
This is the authors accepted version of the article 'Xing, X., Burdet, E., Si, W., Yang, C., & Li, Y. (2023). Impedance learning for human-guided robots in contact with unknown environments. IEEE Transactions on Robotics, 39(5), 3705 - 3721. https://doi.org/10.1109/tro.2023.3281483'.

The final published version is available here: https://ieeexplore.ieee.org/document/10160165

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