IEEE Robotics & Automation Magazine - December 2022 - 77

accuracy, robustness to the differentiated force field environment,
and smoothness and continuity of force changes
in a complex unstable and stable environment. Our simulation
results even prove, to some extent, accuracy and effectiveness
of the proposed method for some experimental
phenomena in previous research. In future work, we will
explore optimization of the current framework and combine
this research with human-like skill learning and generalization
and imitation learning.
Acknowledgments
This work was supported by the Horizon 2020 Marie
Skłodowska-Curie Actions Individual Fellowship under grant
101030691. Ning Wang is the corresponding author.
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Zhenyu Lu, Bristol Robotics Laboratory, University of the West
of England, BS16 1QY, U.K. Email: luzhenyurobot@gmail.com.
Ning Wang, Bristol Robotics Laboratory, University of the West
of England, BS16 1QY, U.K. Email: ning2.wang@uwe.ac.uk.
DECEMBER 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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IEEE Robotics & Automation Magazine - December 2022

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