Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation

Alex Smith; Chenguang Yang; Hongbin Ma; Phil Culverhouse; Angelo Cangelosi; Etienne Burdet

doi:10.1109/ICCA.2014.6871059

Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation

Alex Smith
, Chenguang Yang
, Hongbin Ma
, Phil Culverhouse
, Angelo Cangelosi
, Etienne Burdet

School of Automation

University of Plymouth
Imperial College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

In this paper, we study the adaptive control of a bimanual manipulator moving a dynamic object through a trajectory. Impedance and force are adapted online using a novel biomimetic algorithm that minimises both tracking error and control effort, as observed in humans. On top of our previous work of impedance and force adaptation, a new task space/joint-space hybrid control scheme is developed. The task space controller adapts end-point impedance, to compensate for interactive dynamics, and the joint-space controller adapts the impedance to improve robustness against external disturbances. Extensive simulations demonstrate the efficiency of the developed adaptive motion controller. The results show that the proposed hybrid controller can perform well under large disturbance conditions while minimising control effort and tracking error.

Original language	English
Title of host publication	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Publisher	IEEE Computer Society
Pages	1013-1018
Number of pages	6
ISBN (Print)	9781479928378
DOIs	https://doi.org/10.1109/ICCA.2014.6871059
Publication status	Published - 2014
Event	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan, Province of China Duration: 18 Jun 2014 → 20 Jun 2014

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Country/Territory	Taiwan, Province of China
City	Taichung
Period	18/06/14 → 20/06/14

Access to Document

10.1109/ICCA.2014.6871059

Cite this

Smith, A., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2014). Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 (pp. 1013-1018). Article 6871059 (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2014.6871059

@inproceedings{144f6239517547e898fbe34e48ad7d27,

title = "Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation",

abstract = "In this paper, we study the adaptive control of a bimanual manipulator moving a dynamic object through a trajectory. Impedance and force are adapted online using a novel biomimetic algorithm that minimises both tracking error and control effort, as observed in humans. On top of our previous work of impedance and force adaptation, a new task space/joint-space hybrid control scheme is developed. The task space controller adapts end-point impedance, to compensate for interactive dynamics, and the joint-space controller adapts the impedance to improve robustness against external disturbances. Extensive simulations demonstrate the efficiency of the developed adaptive motion controller. The results show that the proposed hybrid controller can perform well under large disturbance conditions while minimising control effort and tracking error.",

author = "Alex Smith and Chenguang Yang and Hongbin Ma and Phil Culverhouse and Angelo Cangelosi and Etienne Burdet",

year = "2014",

doi = "10.1109/ICCA.2014.6871059",

language = "English",

isbn = "9781479928378",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "1013--1018",

booktitle = "11th IEEE International Conference on Control and Automation, IEEE ICCA 2014",

address = "United States",

note = "11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 ; Conference date: 18-06-2014 Through 20-06-2014",

}

Smith, A, Yang, C, Ma, H, Culverhouse, P, Cangelosi, A & Burdet, E 2014, Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation. in 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014., 6871059, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 1013-1018, 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014, Taichung, Taiwan, Province of China, 18/06/14. https://doi.org/10.1109/ICCA.2014.6871059

Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation. / Smith, Alex; Yang, Chenguang; Ma, Hongbin et al.
11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society, 2014. p. 1013-1018 6871059 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation

AU - Smith, Alex

AU - Yang, Chenguang

AU - Ma, Hongbin

AU - Culverhouse, Phil

AU - Cangelosi, Angelo

AU - Burdet, Etienne

PY - 2014

Y1 - 2014

N2 - In this paper, we study the adaptive control of a bimanual manipulator moving a dynamic object through a trajectory. Impedance and force are adapted online using a novel biomimetic algorithm that minimises both tracking error and control effort, as observed in humans. On top of our previous work of impedance and force adaptation, a new task space/joint-space hybrid control scheme is developed. The task space controller adapts end-point impedance, to compensate for interactive dynamics, and the joint-space controller adapts the impedance to improve robustness against external disturbances. Extensive simulations demonstrate the efficiency of the developed adaptive motion controller. The results show that the proposed hybrid controller can perform well under large disturbance conditions while minimising control effort and tracking error.

AB - In this paper, we study the adaptive control of a bimanual manipulator moving a dynamic object through a trajectory. Impedance and force are adapted online using a novel biomimetic algorithm that minimises both tracking error and control effort, as observed in humans. On top of our previous work of impedance and force adaptation, a new task space/joint-space hybrid control scheme is developed. The task space controller adapts end-point impedance, to compensate for interactive dynamics, and the joint-space controller adapts the impedance to improve robustness against external disturbances. Extensive simulations demonstrate the efficiency of the developed adaptive motion controller. The results show that the proposed hybrid controller can perform well under large disturbance conditions while minimising control effort and tracking error.

UR - https://www.scopus.com/pages/publications/84906543169

U2 - 10.1109/ICCA.2014.6871059

DO - 10.1109/ICCA.2014.6871059

M3 - Conference contribution

AN - SCOPUS:84906543169

SN - 9781479928378

T3 - IEEE International Conference on Control and Automation, ICCA

SP - 1013

EP - 1018

BT - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014

PB - IEEE Computer Society

T2 - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014

Y2 - 18 June 2014 through 20 June 2014

ER -

Smith A, Yang C, Ma H, Culverhouse P, Cangelosi A, Burdet E. Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society. 2014. p. 1013-1018. 6871059. (IEEE International Conference on Control and Automation, ICCA). doi: 10.1109/ICCA.2014.6871059

Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this