Impedance control of robot manipulator in contact task using machine learning

Byungchan Kim, Shinsuk Park

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

4 Citations (Scopus)


In performing contact tasks using robot manipulators, force control is essential. One approach is to select appropriate stiffness ellipse at the endpoint of the manipulator, where stiffness ellipse is a geometrical shape of force element represented in the principal axis of task space. In this study, we introduce a novel method to tailor stiffness ellipse required to perform contact tasks by using Associative Search Network. Using appropriate performance indexes in the open-door task experiment, we acquired stiffness ellipse trajectory which optimizes dynamic movement of manipulator. Derived stiffness ellipse (or impedance in general) through learning process can be used for the similar task of learning process.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages5
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Associative search network
  • Contact task
  • Impedance control
  • Reinforcement learning
  • Stiffness ellipse

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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