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Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot

Haddadin, Sami and Krieger, Kai and Kunze, Mirko and Albu-Schaeffer, Alin (2011) Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot. In: Proceedings. IROS 2011, Int. Conf. on Intelligent Robots and Systems, 25. - 30. Sept. 2011, San Francisco, USA.

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Abstract

For creating robots that are capable of human like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element for achieving this. In this paper we investigate the effects of elastic energy storage and release for ball dribbling in terms of cycle stability based on the analysis of error evolution, peak power performance during hand contact, and robustness with respect to varying finger stiffness. As the ball can only be controlled during contact, an intrinsically elastic finger extends the contact time and the energetic characteristics of the process. As a human is able to dribble blindly, we decided to develop the foundation for the case of contact force sensing only, i.e. no vision is used for our approach.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot
Authors:
AuthorsInstitution or Email of Authors
Haddadin, SamiSami.Haddadin@dlr.de
Krieger, KaiKai.Krieger@dlr.de
Kunze, MirkoUNSPECIFIED
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Date:September 2011
Journal or Publication Title:Proceedings
Status:Published
Keywords:elastische Roboter, Roboterbasketball, Nichtlineare Regelungstechnik, Grenzzyklenanalyse, Robustheit
Event Title:IROS 2011, Int. Conf. on Intelligent Robots and Systems
Event Location:San Francisco, USA
Event Type:international Conference
Event Dates:25. - 30. Sept. 2011
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:45
Last Modified:12 Dec 2013 21:34

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