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

Stratmann, Philipp and Lakatos, Dominic and Albu-Schäffer, Alin Olimpiu (2017) Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-To-Optimal Energy Efficiency. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE. ICRA, International Conference on Robotics and Automation, 2017-05-29 - 2017-06-03, Singapur. ISBN 978-150904633-1. ISSN 1050-4729.

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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. It is typically solved either by model-based approaches that hardly adjust to varying mechanical conditions or by algorithms that make strongly limited use of mechanical resonance conditions. 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/116247/
Document Type:Conference or Workshop Item (Speech)
Title:Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-To-Optimal Energy Efficiency
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115747
Date:29 May 2017
Journal or Publication Title:2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Compliance and Impedance Control, Redundant Robots, Optimization and Optimal Control
Event Title:ICRA, International Conference on Robotics and Automation
Event Location:Singapur
Event Type:international Conference
Event Start Date:29 May 2017
Event End Date:3 June 2017
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:07 Dec 2017 16:31
Last Modified:24 Apr 2024 20:20

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