Tiseo, C;
Rouxel, Q;
Li, Z;
Mistry, M;
(2022)
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation.
In:
Proceedings 2022 International Conference on Robotics and Automation (ICRA).
(pp. pp. 840-846).
Institute of Electrical and Electronics Engineers (IEEE)
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Abstract
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is limited. This work proposed a hierarchical control architecture for robot manipulators and provided capabilities of reproducing human-like motions during unknown interaction dynamics. Our results show that the reproduced end-effector trajectories can preserve the main characteristics of the initial human motion recorded via a motion capture system, and are robust against external perturbations. The data indicate that some detailed movements are hard to reproduce due to the physical limits of the hardware that cannot reach the same velocity recorded in human movements. Nevertheless, these technical problems can be addressed by using better hardware and our proposed algorithms can still be applied to produce imitated motions.
| Type: | Proceedings paper |
|---|---|
| Title: | Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation |
| Event: | 2022 International Conference on Robotics and Automation (ICRA) |
| Location: | Philadelphia, PA, USA |
| Dates: | 23rd-27th May 2022 |
| ISBN-13: | 978-1-7281-9681-7 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICRA46639.2022.9812013 |
| Publisher version: | https://doi.org/10.1109/ICRA46639.2022.9812013 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10158752 |
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