A compliance control of telerobot using neural network

신경 회로망을 이용한 원격조작 로보트의 컴플라이언스 제어

In this paper, neural network-based compliance control of telerobot is presented, This is a method to learn the compliance of human behavior and control telerobot using learned compliance. The consistency of human behavior is checked using Lipschitz's condition. The neural compliance model is composed of a multi-layered neural network which mimics the compliant notion of the human operator. The effectiveness of proposed scheme ie verified by a simulation study.