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Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms

Lakatos, Dominic and Petit, Florian and Albu-Schäffer, Alin (2014) Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Transactions on Robotics, 30 (4), pp. 865-879. IEEE. DOI: 10.1109/TRO.2014.2308371. ISSN 1552-3098.

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The elastic energy storages in biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute cyclic and/or explosive multi degree of freedom (DoF) motions efficiently. This paper studies the generation of cyclic motions for strongly nonlinear, underactuated multi DoF serial robotic arms. By experimental observations of human motor control, a simple and robust control law is deduced. This controller achieves intrinsic oscillatory motions by switching the motor position triggered by a joint torque threshold. Using the derived controller, the oscillatory behavior of human and robotic arms is analyzed in simulations and experiments. It is found that the existence of easily excitable oscillation modes strongly depends on the damping properties of the plant. If the intrinsic damping properties are such that oscillations excited in the undesired modes decay faster than in the desired mode, then multi-DoF oscillations are easily excitable. Simulations and experiments reveal that serially structured, elastic multi-body systems such as VIA or human arms with approximately equal joint damping, fulfill these requirements.

Document Type:Article
Title:Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms
AuthorsInstitution or Email of Authors
Lakatos, Dominicdominic.lakatos@dlr.de
Petit, FlorianFlorian.Petit@dlr.de
Albu-Schäffer, AlinAlin.Albu-Schaeffer@DLR.de
Date:August 2014
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 865-879
Keywords:Nonlinear Oscillations Variable Impedance Actuators Underactuated Robots Biologically-Inspired Robots Motion Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Analyse und Regelung komplexer Robotersysteme
Deposited By: Dominic Lakatos
Deposited On:20 Aug 2014 15:01
Last Modified:14 Jan 2015 12:58

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