Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: ,  suggest a method of deciding the PD gains of a stiffness controller using an identification method based on the Takagi-Sugeno's fuzzy model. It is difficult to perform a compliance task due to the characteristics of the robot itself and an uncertain work environment. Therefore, in this paper,  identify a fuzzy model by dividing the relationship of input-output data into several piecewise-linear equations using the Hough transform, which is an image processing method, and by fine-tuning the parameters of the fuzzy model using the gradient-descent method. By using this fuzzy model,  propose a method of designing the PD gains of the stiffness controller. Finally  show the validity of this method by a surface tracking experiment using a paper box.
['Moon Ju Kim', 'Cheol Kwon', 'Min Kee Park', 'Mignon Park']
I am writing a research paper on a idea A stiffness control of a manipulator using a fuzzy model
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