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Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator

In order to get natural and intuitive physical interaction in the pose adjustment of the minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed in this paper. The proposed model provides continuous variable virtual damping to the admit...

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Detalles Bibliográficos
Autores principales:	Du, Zhijiang, Wang, Wei, Yan, Zhiyuan, Dong, Wei, Wang, Weidong
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2017
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5424721/ https://www.ncbi.nlm.nih.gov/pubmed/28417944 http://dx.doi.org/10.3390/s17040844

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