{"id":"https://openalex.org/W4391496213","doi":"https://doi.org/10.1109/m2vip58386.2023.10413438","title":"Adaptive Admittance Control for Physical Human-Robot Interaction based on Imitation and Reinforcement Learning","display_name":"Adaptive Admittance Control for Physical Human-Robot Interaction based on Imitation and Reinforcement Learning","publication_year":2023,"publication_date":"2023-11-21","ids":{"openalex":"https://openalex.org/W4391496213","doi":"https://doi.org/10.1109/m2vip58386.2023.10413438"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip58386.2023.10413438","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip58386.2023.10413438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112423213","display_name":"Mou Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mou Guo","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414569","display_name":"Bitao Yao","orcid":"https://orcid.org/0000-0002-4956-5737"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bitao Yao","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058267148","display_name":"Zhenrui Ji","orcid":"https://orcid.org/0000-0001-5328-0083"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenrui Ji","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology,Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks,Wuhan,China","Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks, School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology,Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks,Wuhan,China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks, School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059180329","display_name":"Wenjun Xu","orcid":"https://orcid.org/0000-0001-5370-3437"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Xu","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology,Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks,Wuhan,China","Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks, School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology,Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks,Wuhan,China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks, School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111867713","display_name":"Zude Zhou","orcid":"https://orcid.org/0000-0001-9257-7154"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zude Zhou","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112423213"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":null,"apc_paid":null,"fwci":0.3756,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62501734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8784465193748474},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.8660944700241089},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7559138536453247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7430174350738525},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6960400342941284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5638379454612732},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5466291904449463},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5333580374717712},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.5019612312316895},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.48914244771003723},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4547140598297119},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41052040457725525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40002885460853577},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3993348479270935},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39783787727355957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34559667110443115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32156383991241455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28706037998199463}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8784465193748474},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8660944700241089},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7559138536453247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7430174350738525},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6960400342941284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5638379454612732},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5466291904449463},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5333580374717712},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.5019612312316895},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.48914244771003723},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4547140598297119},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41052040457725525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40002885460853577},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3993348479270935},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39783787727355957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34559667110443115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32156383991241455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28706037998199463},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip58386.2023.10413438","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip58386.2023.10413438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4176599258","display_name":null,"funder_award_id":"2021CFA077","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"}],"funders":[{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W161332841","https://openalex.org/W1548528537","https://openalex.org/W2022365837","https://openalex.org/W2126585005","https://openalex.org/W2212573275","https://openalex.org/W2583528914","https://openalex.org/W2774025657","https://openalex.org/W2888525094","https://openalex.org/W2963276406","https://openalex.org/W2963713397","https://openalex.org/W3012211643","https://openalex.org/W3091996189","https://openalex.org/W3097029141","https://openalex.org/W4206073426","https://openalex.org/W4292087176","https://openalex.org/W6732951832"],"related_works":["https://openalex.org/W1989753795","https://openalex.org/W3133699834","https://openalex.org/W1987864653","https://openalex.org/W2752941321","https://openalex.org/W2171128163","https://openalex.org/W2113226229","https://openalex.org/W1502839564","https://openalex.org/W4386515866","https://openalex.org/W2542622692","https://openalex.org/W3127551068"],"abstract_inverted_index":{"Physical":[0],"human-robot":[1,91],"interaction":[2,92],"(pHRI)":[3],"is":[4,28,39,61,65,106],"applied":[5],"in":[6,15],"various":[7],"applications":[8],"such":[9],"as":[10],"hand":[11],"guiding":[12],"of":[13,51,85,111,120,122],"robots":[14],"manufacturing.":[16],"In":[17,76],"this":[18],"paper,":[19],"an":[20],"adaptive":[21],"admittance":[22,87,113],"controller":[23,88,114],"based":[24],"on":[25,101],"reinforcement":[26,37,74,78],"learning":[27,38,54,79],"proposed":[29],"to":[30,41,55,67],"help":[31],"operators":[32],"perform":[33],"pHRI":[34],"tasks.":[35],"As":[36],"hard":[40],"train":[42],"and":[43,63,94,118],"has":[44],"a":[45,57,102],"high":[46],"technology":[47],"threshold,":[48],"the":[49,69,81,86,109,112],"method":[50],"applying":[52],"imitation":[53],"get":[56],"primary":[58],"deterministic":[59],"model":[60,72],"proposed,":[62],"it":[64],"used":[66],"determine":[68],"suitable":[70],"policy":[71],"for":[73],"learning.":[75],"particular,":[77],"obtains":[80],"optimal":[82],"damping":[83,110],"value":[84],"by":[89],"minimizing":[90],"force":[93],"avoiding":[95],"obstacles.":[96],"The":[97],"experiments":[98],"are":[99],"performed":[100],"UR5":[103],"robot.":[104],"It":[105],"verified":[107],"that":[108],"can":[115],"adjust":[116],"adaptively":[117],"improve":[119],"performance":[121],"pHRI.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}