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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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 |
work_keys_str_mv |
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1725255618918350848 |