Switchings Between Trajectory Tracking and Force Minimization in Human–Robot Collaboration

DOI10.1007/978-3-319-40533-9_4zbMath1418.93175OpenAlexW2584728836MaRDI QIDQ5223133

Keng Peng Tee, Shuzhi Sam Ge, Ya-Nan Li

Publication date: 17 July 2019

Published in: Trends in Control and Decision-Making for Human–Robot Collaboration Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-40533-9_4

zbMATH Keywords

robot controlphysical human-robot interactionhuman-robot collaboration

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Dynamic programming (90C39) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

• Human hand impedance characteristics during maintained posture
• Neural-network-observer-based optimal control for unknown nonlinear systems using adaptive dynamic programming
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Learning control theory for robotic motion
• Impedance adaptation for optimal robot–environment interaction
• Reinforcement Learning and Feedback Control: Using Natural Decision Methods to Design Optimal Adaptive Controllers

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