5 accepted papers
SP-based synthesis yields two-time-scale control that allows compliant-joint robots to achieve high-quality tracking at low implementation cost. Composite learning enables exact online identification and control of robots without the stringent condition known as persistent excitation (PE). However, …
To enhance robustness against noise resulting from velocity measurement and acceleration estimation in robot online identification and adaptive control, the robot dynamics should be filtered and parameterized to generate a filtered regression matrix regarding identifiable parameters. However, genera
Variable impedance control (VIC) is paramount for robots to improve safety and effectiveness in physical human-robot interaction. However, achieving variable target impedance with guaranteed stability is not trivial, particularly under parametric uncertainty in the robot dynamics. This letter propos
Parameter convergence in adaptive control is crucial for improving the stability and robustness of robotic systems. Nevertheless, a stringent condition named persistent excitation (PE) needs to be satisfied to ensure parameter convergence in the conventional adaptive robot control. Composite learnin…
Unsupervised aspect detection (UAD) aims at automatically extracting interpretable aspects and identifying aspect-specific segments (such as sentences) from online reviews. However, recent deep learning based topic models, specifically aspect-based autoencoder, suffer from several problems such as e…