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Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots

Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Alin, Albu-Schäffer (2018) Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots. In: 16th European Control Conference, ECC 2018. IEEE. ECC 2018, 12 - 15 Jun 2018, Limassol, Cyprus. doi: 10.23919/ECC.2018.8550200. ISBN 978-3-9524-2698-2. ISSN 1792-6688.

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Official URL: https://ieeexplore.ieee.org/document/8550200


In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.

Item URL in elib:https://elib.dlr.de/127897/
Document Type:Conference or Workshop Item (Speech)
Title:Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Keppler, ManuelManuel.Keppler (at) dlr.deUNSPECIFIED
Lakatos, DominicDominic.Lakatos (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Alin, Albu-SchäfferAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Journal or Publication Title:16th European Control Conference, ECC 2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.23919/ECC.2018.8550200
Keywords:Compliant Robots, Nonlinear Control, Tracking, Impedance Control
Event Title:ECC 2018
Event Location:Limassol, Cyprus
Event Type:international Conference
Event Dates:12 - 15 Jun 2018
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 - Interacting Robot Control [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Keppler, Manuel
Deposited On:28 Jun 2019 15:46
Last Modified:25 Mar 2022 14:18

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