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Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots

Della Santina, Cosimo and Lakatos, Dominic and Bicchi, Antonio and Albu-Schäffer, Alin Olimpiu (2021) Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. In: Experimental Robotics Springer Proceedings in Advanced Robotics book series, 19. Springer, Cham. pp. 566-575. doi: 10.1007/978-3-030-71151-1_50. ISBN 978-3-030-71150-4.

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Official URL: https://link.springer.com/chapter/10.1007/978-3-030-71151-1_50

Abstract

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.

Item URL in elib:https://elib.dlr.de/141279/
Document Type:Contribution to a Collection
Title:Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoTU DelftUNSPECIFIEDUNSPECIFIED
Lakatos, DominicBlickfeld GmbHUNSPECIFIEDUNSPECIFIED
Bicchi, AntonioResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115860
Date:March 2021
Journal or Publication Title:Experimental Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:19
DOI:10.1007/978-3-030-71151-1_50
Page Range:pp. 566-575
Publisher:Springer, Cham
Series Name:Springer Proceedings in Advanced Robotics book series
ISBN:978-3-030-71150-4
Status:Published
Keywords:Articulated Soft Robotics, Locomotion, Nonlinear Oscillations, Feedback Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:05 Jul 2021 16:26
Last Modified:11 Sep 2023 13:24

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