Design of hybrid controller for assembly task based on evaluation with HMM

This paper presents a new design methodology for a hybrid controller in skill control problem. The proposed method is based on the performance evaluation with HMM. Our hybrid controller switches an impedance parameter, which is designed by mean: of referring the human demonstration, according to the...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Nozaki, T., Hirana, K., Itabashi, K., Suzuki, T., Okuma, S., Fujiwara, F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Assembly Connectors Design methodology Event detection Hidden Markov models Humans Hybrid power systems Impedance Robot control Switches
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!