A unified parametric representation for robotic compliant skills with adaptation of impedance and force

Zeng, Chao; Li, Yanan; Guo, Jing; Huang, Zhifeng; Wang, Ning; Yang, Chenguang

doi:10.1109/tmech.2021.3109160

A unified parametric representation for robotic compliant skills with adaptation of impedance and force

Zeng, Chao; Li, Yanan; Guo, Jing; Huang, Zhifeng; Wang, Ning; Yang, Chenguang

Authors

Chao Zeng

Yanan Li

Jing Guo

Zhifeng Huang

Dr. Ning Wang Ning2.Wang@uwe.ac.uk
Senior Lecturer in Robotics

Charlie Yang Charlie.Yang@uwe.ac.uk
Professor in Robotics

Abstract

Robotic compliant manipulation is a very challenging but urgent research spot in the domain of robotics. One difficulty lies in the lack of a unified representation for encoding and learning of compliant profiles. This article aims to introduce a novel learning and control framework to address this problem: 1) we provide a parametric representation that enables a compliant skill to be encoded in a parametric space and allows a robot to learn compliant manipulation skills based on motion and force information collected from human demonstrations; and 2) the updating laws of the compliant profiles, including impedance and force profiles, are derived from a biomimetic control strategy based on the human motor learning principles. Our approach enables the simultaneous adaptation of impedance and feedforward force online during robot's reproduction of the demonstrated tasks to deal with task dynamics and external interferences. The proposed approach is verified based on both simulation and real-world task scenarios.

Citation

Zeng, C., Li, Y., Guo, J., Huang, Z., Wang, N., & Yang, C. (2022). A unified parametric representation for robotic compliant skills with adaptation of impedance and force. IEEE/ASME Transactions on Mechatronics, 27(2), 623-633. https://doi.org/10.1109/tmech.2021.3109160

Journal Article Type	Article
Acceptance Date	Aug 26, 2021
Online Publication Date	Sep 27, 2021
Publication Date	2022-04
Deposit Date	Sep 29, 2021
Publicly Available Date	Sep 30, 2021
Journal	IEEE/ASME Transactions on Mechatronics
Print ISSN	1083-4435
Electronic ISSN	1941-014X
Publisher	Institute of Electrical and Electronics Engineers
Peer Reviewed	Peer Reviewed
Volume	27
Issue	2
Pages	623-633
DOI	https://doi.org/10.1109/tmech.2021.3109160
Keywords	Electrical and Electronic Engineering; Computer Science Applications; Control and Systems Engineering
Public URL	https://uwe-repository.worktribe.com/output/7860486

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