Novel hybrid adaptive controller for manipulation in complex perturbation environments.

In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulat...

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Main Authors: Alex M C Smith, Chenguang Yang, Hongbin Ma, Phil Culverhouse, Angelo Cangelosi, Etienne Burdet
Format: Article
Language:English
Published: Public Library of Science (PLoS) 2015-01-01
Series:PLoS ONE
Online Access:http://europepmc.org/articles/PMC4452518?pdf=render
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spelling doaj-1ed9871175804f208d2a34a805b437932020-11-25T00:48:33ZengPublic Library of Science (PLoS)PLoS ONE1932-62032015-01-01106e012928110.1371/journal.pone.0129281Novel hybrid adaptive controller for manipulation in complex perturbation environments.Alex M C SmithChenguang YangHongbin MaPhil CulverhouseAngelo CangelosiEtienne BurdetIn this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.http://europepmc.org/articles/PMC4452518?pdf=render
collection DOAJ
language English
format Article
sources DOAJ
author Alex M C Smith
Chenguang Yang
Hongbin Ma
Phil Culverhouse
Angelo Cangelosi
Etienne Burdet
spellingShingle Alex M C Smith
Chenguang Yang
Hongbin Ma
Phil Culverhouse
Angelo Cangelosi
Etienne Burdet
Novel hybrid adaptive controller for manipulation in complex perturbation environments.
PLoS ONE
author_facet Alex M C Smith
Chenguang Yang
Hongbin Ma
Phil Culverhouse
Angelo Cangelosi
Etienne Burdet
author_sort Alex M C Smith
title Novel hybrid adaptive controller for manipulation in complex perturbation environments.
title_short Novel hybrid adaptive controller for manipulation in complex perturbation environments.
title_full Novel hybrid adaptive controller for manipulation in complex perturbation environments.
title_fullStr Novel hybrid adaptive controller for manipulation in complex perturbation environments.
title_full_unstemmed Novel hybrid adaptive controller for manipulation in complex perturbation environments.
title_sort novel hybrid adaptive controller for manipulation in complex perturbation environments.
publisher Public Library of Science (PLoS)
series PLoS ONE
issn 1932-6203
publishDate 2015-01-01
description In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.
url http://europepmc.org/articles/PMC4452518?pdf=render
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AT angelocangelosi novelhybridadaptivecontrollerformanipulationincomplexperturbationenvironments
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