Environmental impedance estimation and imitation in haptics by sliding mode neural networks

Baris Yalcin, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Due to the future perspective to reproduce highly nonlinear characteristics of the contacted environment exactly in the absence of environment, especially in haptics research, and also due to providing high robustness and stability of robot control systems during environmental contacts, ensuring precision in environmental impedance estimations and storing environmental impedances are imperative studies. In this paper impedance is considered as a nonlinear mapping from position and velocity to force. This paper utilizes a sliding mode control theory based neural network, which is proposed to be used as a fast and fussy online environmental impedance & stiffness estimator and imitator by relating position and velocity dimension to force dimension. In the end, validity of online impedance estimation method and how a neural network can turn to be the model of contacted environment (imitation) are going to be shown by the experimental results. As a future perspective, continuation of this research is going to result in exact environmental impedance reproduction.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages4014-4019
Number of pages6
DOIs
Publication statusPublished - 2006
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

Fingerprint

Neural networks
Sliding mode control
Robustness (control systems)
Control theory
Stiffness
Robots
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Yalcin, B., & Ohnishi, K. (2006). Environmental impedance estimation and imitation in haptics by sliding mode neural networks. In IECON Proceedings (Industrial Electronics Conference) (pp. 4014-4019). [4153445] https://doi.org/10.1109/IECON.2006.347716

Environmental impedance estimation and imitation in haptics by sliding mode neural networks. / Yalcin, Baris; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2006. p. 4014-4019 4153445.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yalcin, B & Ohnishi, K 2006, Environmental impedance estimation and imitation in haptics by sliding mode neural networks. in IECON Proceedings (Industrial Electronics Conference)., 4153445, pp. 4014-4019, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.347716
Yalcin B, Ohnishi K. Environmental impedance estimation and imitation in haptics by sliding mode neural networks. In IECON Proceedings (Industrial Electronics Conference). 2006. p. 4014-4019. 4153445 https://doi.org/10.1109/IECON.2006.347716
Yalcin, Baris ; Ohnishi, Kouhei. / Environmental impedance estimation and imitation in haptics by sliding mode neural networks. IECON Proceedings (Industrial Electronics Conference). 2006. pp. 4014-4019
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