A study on robot force control based on the GMM/GMR algorithm fusing different compensation strategies

To address traditional impedance control methods' difficulty with obtaining stable forces during robot-skin contact, a force control based on the Gaussian mixture model/Gaussian mixture regression (GMM/GMR) algorithm fusing different compensation strategies is proposed. The contact relationship betw...

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Autori principali:	Meng Xiao, Xuefei Zhang, Tie Zhang, Shouyan Chen, Yanbiao Zou, Wen Wu
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	Frontiers Media S.A. 2024-01-01
Serie:	Frontiers in Neurorobotics
Soggetti:	robot force control impedance control reinforcement learning deep Q-network (DQN) Gaussian mixture model/Gaussian mixture regression (GMM/GMR)
Accesso online:	https://www.frontiersin.org/articles/10.3389/fnbot.2024.1290853/full
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