IEEE Robotics & Automation Magazine - December 2022 - 66

©SHUTTERSTOCK.COM/ANDREY SUSLOV
Biomimetic Force and
Impedance Adaptation
Based on Broad Learning
System in Stable and
Unstable Tasks
Creating an Incremental and Explainable
Neural Network With Functional Linkage
By Zhenyu Lu and Ning Wang
T
his article presents a novel biomimetic force and
impedance adaption framework based on the
broad learning system (BLS) for robot control in
stable and unstable environments. Different from
iterative learning control, the adaptation process is
Digital Object Identifier 10.1109/MRA.2022.3188218
Date of current version: 26 August 2022
66 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022
realized by a neural network (NN)-based framework, similar
to a BLS, to realize a varying learning rate for feedforward
force and impedance factors. The connections of NN layers
and settings of the feature nodes are related to the human
motor control and learning principle that is described as a
relationship among feedforward force, impedance, reflex and
position errors, and so on to make the NN explainable. Some
comparative simulations are created and tested in five force
1070-9932/22©2022IEEE
http://www.SHUTTERSTOCK.COM/ANDREY http://orcid.org/0000-0002-5446-7285 https://orcid.org/0000-0002-3264-1852

IEEE Robotics & Automation Magazine - December 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2022

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IEEE Robotics & Automation Magazine - December 2022 - Cover3
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