Waypoints updating based on Adam and ILC for path learning in physical human-robot interaction
Jingkang Xia Chenjian Song Deqing Huang Xueyan Xing Lei Ma Yanan Li Jingkang Xia Chenjian Song Deqing Huang Xueyan Xing Lei Ma Yanan Li
This paper presents a novel method for learning and tracking of the desired path of the human partner in physical human-robot interaction. Combining the Adam optimization algorithm with iteration learning control (ILC), a path learning method is designed to generate and update reference waypoints according to the human partner’s desired path. This method firstly uses the Adam optimization algorith...