Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-Objective Bayesian Optimization with Priors
Masashi Okada,Mayumi Komatsu,Ryo Okumura,Tadahiro Taniguchi,Masashi Okada,Mayumi Komatsu,Ryo Okumura,Tadahiro Taniguchi
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather than safety (or compliance). Thus, this paper proposes a novel stiffness learning method to satisfy both task performance and compliance requirements. The propo...
