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Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling

Haddadin, Sami and Krieger, Kai and Kunze, Mirko and Albu-Schäffer, Alin Olimpiu (2018) Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Transactions on Robotics, 34 (1), pp. 91-112. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2017.2765684. ISSN 1552-3098.

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Abstract

For achieving dynamic manipulation capabilities that are comparable to human performance in terms of speed, energetic properties, and robustness, intrinsic elasticity is widely proposed as a necessary robot design element. In this paper we show how passive compliance can be exploited for a 6-degree-of-freedom (DoF) cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled DLR Lightweight Robot III. For this, the robot is equipped with an elastic hand, which extends the contact time and therefore, also enlarges both, observability and controllability of the ball. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on a 1 DoF analysis from [1] for the main axis together with control strategies for the secondary translations and rotations of the task. The scheme allows also the continuous tracking of a desired dribbling height and horizontal position. As a human is able to dribble blindly, we decided to solve the task by force sensing only, i.e. no vision is used for our approach, however, it could be easily incorporated.

Item URL in elib:https://elib.dlr.de/118872/
Document Type:Article
Title:Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Haddadin, SamiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Krieger, KaiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kunze, MirkoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115750
Date:February 2018
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:34
DOI:10.1109/TRO.2017.2765684
Page Range:pp. 91-112
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:elastic dribbling, anthropomorphic Robot, elastic hand
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:11 Feb 2018 11:14
Last Modified:11 Sep 2023 13:22

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