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/ | ||||||||||||||||||||
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Document Type: | Contribution to a Collection | ||||||||||||||||||||
Title: | Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots | ||||||||||||||||||||
Authors: |
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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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