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Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms

Lakatos, Dominic und Petit, Florian und Albu-Schäffer, Alin (2014) Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Transactions on Robotics, 30 (4), Seiten 865-879. IEEE - Institute of Electrical and Electronics Engineers. 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.

Titel:Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iD
Lakatos, Dominicdominic.lakatos@dlr.deNICHT SPEZIFIZIERT
Petit, FlorianFlorian.Petit@dlr.deNICHT SPEZIFIZIERT
Albu-Schäffer, AlinAlin.Albu-Schaeffer@DLR.deNICHT SPEZIFIZIERT
Datum:August 2014
Erschienen in:IEEE Transactions on Robotics
Referierte Publikation:Ja
In ISI Web of Science:Ja
DOI :10.1109/TRO.2014.2308371
Seitenbereich:Seiten 865-879
Verlag:IEEE - Institute of Electrical and Electronics Engineers
Stichwörter:Nonlinear Oscillations Variable Impedance Actuators Underactuated Robots Biologically-Inspired Robots Motion Control
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben Terrestrische Assistenz-Robotik
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme
Hinterlegt von: Lakatos, Dominic
Hinterlegt am:20 Aug 2014 15:01
Letzte Änderung:08 Mär 2018 18:59

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