Robot Impedance Iterative Learning with Sparse Online Gaussian Process

摘要

Robot interaction control with variable impedance parameters may conform to task requirements during continuous interaction with dynamic environments. Iterative learning (IL) is effective to learn desired impedance parameters for robots under unknown environments, and Gaussian process (GP) is a nonparametric Bayesian approach that models complicated functions with provable confidence using limited data. In this paper, we propose an impedance IL method enhanced by a sparse online Gaussian process (SOGP) to speed up learning convergence and improve generalization. The SOGP for variable impedance modeling is updated in the same iteration by removing similar data points from previous iterations while learning impedance parameters in multiple iterations. The proposed IL-SOGP method is verified by high-fidelity simulations of a collaborative robot with 7 degrees of freedom based on the admittance control framework. It is shown that the proposed method accelerates iterative convergence and improves generalization compared to the classical IL-based impedance learning method.