Della Santina, Cosimo und Lakatos, Dominic und Bicchi, Antonio und Albu-Schäffer, Alin Olimpiu (2021) Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. In: ISER 2020: Experimental Robotics, 19, Seiten 566-575. Springer, Cham. Experimental Robotics, 2021-11-14 - 2021-11-18, Malta. doi: 10.1007/978-3-030-71151-1_50. ISBN 978-3-030-71150-4. ISSN 2511-1256.
PDF
10MB |
Offizielle URL: https://link.springer.com/chapter/10.1007/978-3-030-71151-1_50
Kurzfassung
Thanks to their body elasticity, articulated soft robots promise to produce effective and robust oscillations with low energy consumption. This in turn is an important feature which can be exploited in the execution of many tasks, as for example locomotion. Yet, an established theory and general techniques allowing to excite and sustain these nonlinear oscillations are still lacking. A possible solution to this problem comes from nonlinear modal theory, which defines curved extensions of linear Eigenspaces called Eigenmanifolds. Stabilizing these surfaces is equivalent to exciting regular hyper-efficient oscillations in the robotic system. This paper proposes a first experimental validation of the Eigenmanifold stabilization technique. It also proposes a simple yet effective means of injecting energy into the system, so to sustain the oscillations in presence of damping. We consider as experimental setups a single robotic leg, and a full soft quadruped. Preliminary locomotion results are provided with both systems.
elib-URL des Eintrags: | https://elib.dlr.de/141279/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | März 2021 | ||||||||||||||||||||
Erschienen in: | ISER 2020: Experimental Robotics | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Band: | 19 | ||||||||||||||||||||
DOI: | 10.1007/978-3-030-71151-1_50 | ||||||||||||||||||||
Seitenbereich: | Seiten 566-575 | ||||||||||||||||||||
Verlag: | Springer, Cham | ||||||||||||||||||||
Name der Reihe: | Springer Proceedings in Advanced Robotics book series | ||||||||||||||||||||
ISSN: | 2511-1256 | ||||||||||||||||||||
ISBN: | 978-3-030-71150-4 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Articulated Soft Robotics, Locomotion, Nonlinear Oscillations, Feedback Control | ||||||||||||||||||||
Veranstaltungstitel: | Experimental Robotics | ||||||||||||||||||||
Veranstaltungsort: | Malta | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 14 November 2021 | ||||||||||||||||||||
Veranstaltungsende: | 18 November 2021 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||
Hinterlegt am: | 28 Feb 2024 12:31 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:41 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags