Nikos Aspragathos — accepted AI-conference papers

2018

Variable Admittance Control for Human-Robot Collaboration based on Online Neural Network Training

Abdel-Nasser Sharkawy, Panagiotis N. Koustournpardis, Nikos Aspragathos

IROS 2018poster

In this paper, a method for variable admittance control in human-robot cooperation is proposed. A multilayer feedforward neural network is designed using the Cartesian velocity of the robot and the applied force by the operator as its inputs to modify online the virtual damping of the admittance con…

Cited by 54 Source ↗Scholar ↗

2015

Reinforcement learning of variable admittance control for human-robot co-manipulation

Fotios Dimeas, Nikos Aspragathos

IROS 2015poster

In this paper, a variable admittance controller based on reinforcement learning is proposed for human-robot co-manipulation tasks. Setting as the goal of the reinforcement learning algorithm the minimisation of the jerk throughout a point-to-point movement, the proposed controller can learn the appr…

Cited by 103 Source ↗Scholar ↗