Impedance adjustment for learning human variable impedance skill

Rui Wu; He Zhang; Yanhe Zhu; Xizhe Zang; Jie Zhao

doi:10.1016/j.mechatronics.2023.103036

Impedance adjustment for learning human variable impedance skill

Rui Wu
, He Zhang^*
, Yanhe Zhu
, Xizhe Zang
, Jie Zhao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

In this paper, a Gaussian Mixture Model (GMM) based skill transfer framework is discuss and a task phase segmentation method based on human operation intention is proposed. Based on this skill transfer framework, an impedance adjustment algorithm for phase switching is also put forward to improve the performance of autonomous execution of robot skills. The proposed algorithm can solve the problem of task failure caused by position error during automatic robot performance of low-impedance skills without affecting compliance of the low-impedance part of the variable impedance skill transfer.

Original language	English
Article number	103036
Journal	Mechatronics
Volume	95
DOIs	https://doi.org/10.1016/j.mechatronics.2023.103036
State	Published - Nov 2023

Keywords

Impedance adaptation
Learning from demonstration (LfD)
Variable impedance control
Variable impedance skill transfer

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10.1016/j.mechatronics.2023.103036

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title = "Impedance adjustment for learning human variable impedance skill",

abstract = "In this paper, a Gaussian Mixture Model (GMM) based skill transfer framework is discuss and a task phase segmentation method based on human operation intention is proposed. Based on this skill transfer framework, an impedance adjustment algorithm for phase switching is also put forward to improve the performance of autonomous execution of robot skills. The proposed algorithm can solve the problem of task failure caused by position error during automatic robot performance of low-impedance skills without affecting compliance of the low-impedance part of the variable impedance skill transfer.",

keywords = "Impedance adaptation, Learning from demonstration (LfD), Variable impedance control, Variable impedance skill transfer",

author = "Rui Wu and He Zhang and Yanhe Zhu and Xizhe Zang and Jie Zhao",

note = "Publisher Copyright: {\textcopyright} 2023 Elsevier Ltd",

year = "2023",

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language = "英语",

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T1 - Impedance adjustment for learning human variable impedance skill

AU - Wu, Rui

AU - Zhang, He

AU - Zhu, Yanhe

AU - Zang, Xizhe

AU - Zhao, Jie

PY - 2023/11

Y1 - 2023/11

N2 - In this paper, a Gaussian Mixture Model (GMM) based skill transfer framework is discuss and a task phase segmentation method based on human operation intention is proposed. Based on this skill transfer framework, an impedance adjustment algorithm for phase switching is also put forward to improve the performance of autonomous execution of robot skills. The proposed algorithm can solve the problem of task failure caused by position error during automatic robot performance of low-impedance skills without affecting compliance of the low-impedance part of the variable impedance skill transfer.

AB - In this paper, a Gaussian Mixture Model (GMM) based skill transfer framework is discuss and a task phase segmentation method based on human operation intention is proposed. Based on this skill transfer framework, an impedance adjustment algorithm for phase switching is also put forward to improve the performance of autonomous execution of robot skills. The proposed algorithm can solve the problem of task failure caused by position error during automatic robot performance of low-impedance skills without affecting compliance of the low-impedance part of the variable impedance skill transfer.

KW - Impedance adaptation

KW - Learning from demonstration (LfD)

KW - Variable impedance control

KW - Variable impedance skill transfer

UR - https://www.scopus.com/pages/publications/85169540284

U2 - 10.1016/j.mechatronics.2023.103036

DO - 10.1016/j.mechatronics.2023.103036

M3 - 文章

AN - SCOPUS:85169540284

SN - 0957-4158

VL - 95

JO - Mechatronics

JF - Mechatronics

M1 - 103036

ER -

Impedance adjustment for learning human variable impedance skill

Abstract

Keywords

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