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Online Learning of Virtual Impedance Parameters in Non-Contact Impedance Control Using Neural Networks
https://hiroshima.repo.nii.ac.jp/records/2007030
https://hiroshima.repo.nii.ac.jp/records/200703025b142b9-51ad-4bfc-a5b7-632de864a7b2
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TSMC_B_C_2112-2118-2004.pdf (504.1 KB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Online Learning of Virtual Impedance Parameters in Non-Contact Impedance Control Using Neural Networks | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Tsuji, Toshio
× Tsuji, Toshio
× Terauchi, Mutsuhiro
× Tanaka, Yoshiyuki
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Impact control | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | impedance control | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | noncontact impedance | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | neural networks (NN) | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | robot manipulator | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | Impedance control is one of the most effective methods forcontrolling the interaction between a manipulator and a task environment.In conventional impedance control methods, however, the manipulatorcannot be controlled until the end-effector contacts task environments. Anoncontact impedance control method has been proposed to resolve such aproblem. This method on only can regulate the end-point impedance, butalso the virtual impedance that works between the manipulator and theenvironment by using visual information. This paper proposes a learningmethod using neural networks to regulate the virtual impedance parametersaccording to a given task. The validity of the proposed method wasverified through computer simulations and experiments with a multijointrobotic manipulator. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/TSMCB.2004.829133 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1083-4419 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 2112 | |||||||||||
| 書誌情報 |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics 巻 34, 号 5, p. 2112-2118, 発行日 2004 |
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| 旧ID | 14213 | |||||||||||
