This paper presents a robust and reliable humanrobot collaboration framework for bimanual manipulation. We propose an optimal motion adaptation method to retarget arbitrary human commands to feasible robot pose references while maintaining payload stability. The framework comprises three modules: (1) Task-Space Sequential Equilibrium and Inverse Kinematics Optimization for … [Read more...] about Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References
Impedance
Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and … [Read more...] about Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
