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Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency

Stratmann, Philipp and Lakatos, Dominic and Özparpucu, Mehmet Can and 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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Official URL: http://ieeexplore.ieee.org/document/7762857/


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.

Item URL in elib:https://elib.dlr.de/109332/
Document Type:Article
Title:Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Stratmann, PhilippUNSPECIFIEDhttps://orcid.org/0000-0001-6791-9159UNSPECIFIED
Lakatos, DominicUNSPECIFIEDhttps://orcid.org/0000-0002-1841-9972UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115726
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and impedance control, redundant robots, Optimization and Optimal Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY], R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Stratmann, Philipp
Deposited On:20 Dec 2016 11:01
Last Modified:11 Sep 2023 13:22

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