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Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation

Meng, Xuming and Keppler, Manuel and Ott, Christian (2021) Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. In: 2021 European Control Conference, ECC 2021, pp. 263-269. 2021 European Control Conference (ECC 2021), 29 June - 2 July 2021, Rotterdam, The Netherlands. doi: 10.23919/ECC54610.2021.9655122. ISBN 978-946384236-5.

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We propose an impedance controller for articulated soft robots implemented by bidirectional antagonistic variable stiffness (BAVS) actuation, where two motors are connected via nonlinear elastic elements to a single link allowing for a joint stiffness modulation. Naturally, the highly elastic elements introduce undesired oscillatory dynamics into the plant. To address this problem, we present a controller that allows to impose a desired link-side stiffness and damping behavior while preserving the intrinsic inertial elastic properties of the system. This allows us to solve the global asymptotic regulation problem while simultaneously imposing a desired joint stiffness preset on the BAVS actuator. We provide a passivity and stability analysis based on a physically motivated storage and Lyapunov function. Experimental results on the underarm BAVS joint of DLR David validate our control law.

Item URL in elib:https://elib.dlr.de/143334/
Document Type:Conference or Workshop Item (Speech)
Title:Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meng, XumingUNSPECIFIEDhttps://orcid.org/0000-0001-5642-1830UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:July 2021
Journal or Publication Title:2021 European Control Conference, ECC 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 263-269
Keywords:Soft robots, Impedance Control, Variable Stiffness Actuators
Event Title:2021 European Control Conference (ECC 2021)
Event Location:Rotterdam, The Netherlands
Event Type:international Conference
Event Dates:29 June - 2 July 2021
Organizer:European Control Association (EUCA)
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 - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Meng, Xuming
Deposited On:16 Aug 2021 08:47
Last Modified:17 Jul 2023 13:11

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