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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: ISER 2020: Experimental Robotics, 19, pp. 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.

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


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:Conference or Workshop Item (Speech)
Title:Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
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:ISER 2020: Experimental Robotics
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 566-575
Publisher:Springer, Cham
Series Name:Springer Proceedings in Advanced Robotics book series
Keywords:Articulated Soft Robotics, Locomotion, Nonlinear Oscillations, Feedback Control
Event Title:Experimental Robotics
Event Location:Malta
Event Type:international Conference
Event Start Date:14 November 2021
Event End Date:18 November 2021
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:28 Feb 2024 12:31
Last Modified:24 Apr 2024 20:41

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