Chapter 5: Admittance control: learning from humans through collaborating with humans
Ning Wang; Chenguang Yang Bristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom
Abstract
It is one of the great challenges for a robot to learn compliant movements in interaction tasks. The robot can easily acquire motion skills from a human tutor by kinematics demonstration; however, this becomes much more difficult when it comes to the compliant skills. The reason why admittance control is called compliant control lies in the fact that three adjusting parameters of flexibility are added into its control model, i.e., a stiffness parameter, a damping parameter, and an inertia parameter. In this chapter, we will introduce the ...
Get Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation now with the O’Reilly learning platform.
O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.
