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• W621657156 abstract "In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing." @default.
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• W621657156 date "2015-06-01" @default.
• W621657156 modified "2023-09-25" @default.
• W621657156 title "Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments" @default.
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• W621657156 doi "https://doi.org/10.1371/journal.pone.0129281" @default.
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