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

Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin Olimpiu and Lilge, Thorsten (2018) Exploiting Elastic Energy Storage for “Blind” 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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For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects of elastic energy storage and release for basketball dribbling in terms of open-loop cycle stability. We base the analysis, which is performed for the 1-degree-of-freedom (DoF) case, on error propagation, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. To back up our basic insights, we extend the 1-DoF controller to 6-DoFs and show how passive compliance can be exploited for a 6-DoF cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled robot. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e., no visual information is necessary in our approach. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on the 1-DoF analysis for the primary vertical 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. The approach is also used to hypothesize about human dribbling and is validated with captured data.

Item URL in elib:https://elib.dlr.de/119576/
Document Type:Article
Title:Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Haddadin, SamiLeibniz University, HannoverUNSPECIFIEDUNSPECIFIED
Krieger, KaiFertig Motors, MarktheidenfeldUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115752
Lilge, ThorstenLeibniz University, HannoverUNSPECIFIEDUNSPECIFIED
Date:February 2018
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 91-112
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Cycle stability analysis, disturbance observer, elastic energy storage, flexible joint manipulators, limit cycles, variable stiffness actuation
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:16 Apr 2018 03:42
Last Modified:11 Sep 2023 13:22

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