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Novel hybrid adaptive controller for manipulation in complex perturbation environments

Smith, Alex M. C.; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne


Hongbin Ma

Phil Culverhouse

Angelo Cangelosi

Etienne Burdet


Josh Bongard


© 2015 Smith et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.


Smith, A. M. C., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2015). Novel hybrid adaptive controller for manipulation in complex perturbation environments. PLoS ONE, 10(6), e0129281.

Journal Article Type Article
Acceptance Date May 6, 2015
Online Publication Date Jun 1, 2015
Publication Date Jun 1, 2015
Deposit Date Sep 3, 2019
Publicly Available Date Sep 3, 2019
Journal PLoS ONE
Electronic ISSN 1932-6203
Publisher Public Library of Science
Peer Reviewed Peer Reviewed
Volume 10
Issue 6
Pages e0129281
Keywords General Biochemistry, Genetics and Molecular Biology; General Agricultural and Biological Sciences; General Medicine
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