Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control
المؤلفون المشاركون
Zhao, Jie
Fu, Le
Zhang, He
Wu, Rui
Peng, Tao
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-09-30
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
In this research, properties of variable admittance controller and variable impedance controller were simulated by MATLAB firstly, which reflected the good performance of these two controllers under trajectory tracking and physical interaction.
Secondly, a new mode of learning from demonstration (LfD) that conforms to human intuitive and has good interaction performances was developed by combining the electromyogram (EMG) signals and variable impedance (admittance) controller in dragging demonstration.
In this learning by demonstration mode, demonstrators not only can interact with manipulator intuitively, but also can transmit end-effector trajectories and impedance gain scheduling to the manipulator for learning.
A dragging demonstration experiment in 2D space was carried out with such learning mode.
Experimental results revealed that the designed human-robot interaction and demonstration mode is conducive to demonstrators to control interaction performance of manipulator directly, which improves accuracy and time efficiency of the demonstration task.
Moreover, the trajectory and impedance gain scheduling could be retained for the next learning process in the autonomous compliant operations of manipulator.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wu, Rui& Zhang, He& Peng, Tao& Fu, Le& Zhao, Jie. 2018. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wu, Rui…[et al.]. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wu, Rui& Zhang, He& Peng, Tao& Fu, Le& Zhao, Jie. Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1209428
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1209428
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر