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Neural Adaptive Force Control for Compliant Robots

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Bio-Inspired Applications of Connectionism (IWANN 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2085))

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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. Institute d’éléctronique, Laboratoire de robotique, 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. Departamento de Inteligencia Artificial, Universidad Nacional de Educación a Distancia, Senda del Rey, s/n., 28040, Madrid, Spain

    José Mira

  2. Departamento de Arquitectura y Tecnología de Computadores, Universidad de Granada, Campus Fuentenueva, 18071, Granada, Spain

    Alberto Prieto

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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: Mira, J., Prieto, A. (eds) Bio-Inspired Applications of Connectionism. IWANN 2001. Lecture Notes in Computer Science, vol 2085. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45723-2_52

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  • DOI: https://doi.org/10.1007/3-540-45723-2_52

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42237-2

  • Online ISBN: 978-3-540-45723-7

  • eBook Packages: Springer Book Archive

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