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Robot impedance generation from logic task description through progressive learning

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2 Author(s)
Boo-Ho Yang ; d''Arbeloff Lab. for Inf. Syst. & Technol., MIT, Cambridge, MA, USA ; Asada, H.H.

In this paper, we present a new approach to learning robot impedance control parameters from a logic task description. In this approach, we first describe the desired behaviour of a robot for performing a given task at a logic level. A simple logic branch control using a quasi-static force-to-motion map is created based on the logic description. The progressive learning method is then applied to this logic branch control in order to create a dynamic control, i.e. impedance control, for performing the task quickly and dynamically. Starting with a simple logic description about the robot behaviour, the system can develop a fully dynamic impedance control by progressively learning the process dynamics. The problem is formulated in the context of high-speed insertion, and the proposed approach is verified through simulation

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997