NDLI: A preliminary study for realization of field impedance equalizer with an automatic adjusting function

Content Provider	IEEE Xplore Digital Library
Author	Morizono, T. Kohno, H. Higashi, M. Yamada, Y.
Copyright Year	2004
Description	Author affiliation: Graduate Sch. of Eng., Toyota Technol. Inst., Nagoya, Japan (Morizono, T.; Kohno, H.; Higashi, M.)
Abstract	One of the authors has developed a framework of "field impedance equalizer (FIE)'' for a human-robot cooperative system, which allows an operator to adjust desired mechanical impedance of a robot based on subjective feeling of operation. However, a method to automatically adjust the desired mechanical impedance has not been established yet, and the adjustment has been performed manually and rather empirically by another person (as an adjuster) in the previous study. This work reports a preliminary study for realization of a function which enables FIE to automatically adjust the desired mechanical impedance. Especially, a function to automatically adjust the desired viscous coefficient is developed based on the framework of reinforcement learning. It is experimentally demonstrated that the proposed function is capable of automatically developing the desired viscous coefficient which meets the desire of an operator.
Starting Page	407
Ending Page	412
File Size	666290
Page Count	6
File Format	PDF
ISBN	0780385705
DOI	10.1109/ROMAN.2004.1374795
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-22
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Equalizers Robots Mechanical variables control Viscosity Cooperative systems Robotics and automation Automatic control Control systems Stability
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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