Stratmann, Philipp und Lakatos, Dominic und Özparpucu, Mehmet Can und Albu-Schäffer, Alin (2016) Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. IEEE Robotics and Automation Letters, PP (99). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2016.2633580. ISSN 2377-3766.
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Offizielle URL: http://ieeexplore.ieee.org/document/7762857/
Kurzfassung
Compliant elements in robotic systems can strongly increase the energy efficiency of highly dynamic periodic motions with large energy consumption such as jumping. Their control is a challenging task for multi-joint systems. Typical control algorithms are model-based and thus fail to adjust to unexpected mechanical environments or make limited use of mechanical resonance properties. Here, we apply numerical optimal control theory to demonstrate that close-to-optimal energy-efficient movements can be induced from a one-dimensional sub-manifold in jumping systems that show nonlinear hybrid dynamics. Linear weights transform sensory information into this one-dimensional controller space and reverse transform one-dimensional motor signals back into the multi-dimensional joint space. In Monte-Carlo-based simulations and experiments, we show that an algorithm that we derived previously can extract these weights online from sensory information about joint positions of a moving system. The algorithm is computationally cheap, modular, and adjusts to varying mechanical conditions. Our results demonstrate that it reduces the problem of energy-efficient control of multiple compliant joints that move with high synchronicity to a low-dimensional task.
elib-URL des Eintrags: | https://elib.dlr.de/109332/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency | ||||||||||||||||||||
Autoren: |
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Datum: | 2016 | ||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | PP | ||||||||||||||||||||
DOI: | 10.1109/LRA.2016.2633580 | ||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Compliance and impedance control, redundant robots, Optimization and Optimal 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 - Laufroboter/Lokomotion [SY], R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Stratmann, Philipp | ||||||||||||||||||||
Hinterlegt am: | 20 Dez 2016 11:01 | ||||||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:22 |
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