Augmenting Neural Networks-Based Model Approximators in Robotic Force-Tracking Tasks

摘要

As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either require extensive tuning, or demand expert knowledge of the environment, which is often impractical in real-world applications. This work proposes a novel control strategy leveraging Neural Networks (NNs) to enhance the force-tracking behavior of a Direct Force Controller (DFC). Unlike similar previous approaches, it accounts for the manipulator's tangential velocity, a critical factor in force exertion, especially during fast motions. The method employs an ensemble of feedforward NNs to predict contact forces, then exploits the prediction to solve an optimization problem and generate an optimal residual action, which is added to the DFC output and applied to an impedance controller. The proposed Velocity-augmented Artificial intelligence Interaction Controller for Ambiguous Models (VAICAM) is validated in the Gazebo simulator on a Franka Emika Panda robot. Against a vast set of trajectories, VAICAM achieves superior performance compared to two baseline controllers.