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Neural Adaptive Force Control for Compliant Robots

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Artificial Neural Networks — ICANN 2001 (ICANN 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2130))

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Abstract

This paper deals with the methodological approach for the development and implementation of force-position control for robotized systems. We propose a first approach based on neural network to treat globally the problem of the adaptation of robot behavior to various classes of tasks and to actual conditions of the task where its parameters may vary. The obtained results are presented and analyzed in order to prove the efficiency of the proposed approach

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Author information

Authors and Affiliations

  1. Laboratoire de robotique onInstitute d’éléctronique, Université, USTHB, BP 32, Babs Ezzouar Alger, Algeria

    N. Saadia

  2. LIIA-IUT de Creteil, 122 Rue Paul Armangot, 94400, Vitry Sur Seine Cedex, France

    Y. Amirat & J. Pontnaut

  3. Lab. PRiSM, Université de Versailles St-Quentin en Yvelines, 45 av. des Etats Unis, 78035, Versailles, France

    A. Ramdane-Cherif

Authors
  1. N. Saadia
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  2. Y. Amirat
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  3. J. Pontnaut
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  4. A. Ramdane-Cherif
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Editor information

Editors and Affiliations

  1. Dept. of Mecidal Cybernetics and Artificial Intelligence, University of Vienna, Freyung 6/2, 1010, Vienna, Austria

    Georg Dorffner

  2. Institute for Computer Aided Automation Pattern Recognition and Image Processing Group, Technical University of Vienna, Favoritenstr. 9/1832, 1040, Vienna, Austria

    Horst Bischof

  3. Institut für Statistik, Wirtschaftsuniversität Wien, Augasse 2-6, 1090, Wien, Austria

    Kurt Hornik

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© 2001 Springer-Verlag Berlin Heidelberg

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Saadia, N., Amirat, Y., Pontnaut, J., Ramdane-Cherif, A. (2001). Neural Adaptive Force Control for Compliant Robots. In: Dorffner, G., Bischof, H., Hornik, K. (eds) Artificial Neural Networks — ICANN 2001. ICANN 2001. Lecture Notes in Computer Science, vol 2130. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44668-0_125

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  • DOI: https://doi.org/10.1007/3-540-44668-0_125

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42486-4

  • Online ISBN: 978-3-540-44668-2

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