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Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control

Keppler, Manuel and Loeffl, Florian Christoph and Wandinger, David and Raschel, Clara Maria and Ott, Christian (2021) Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3097079. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)


In situations of harsh impacts, damping injection directly on the link of an articulated soft robot is challenging and usually requires high actuator torques at the moment of impact. In this work, we discuss the underlying reasons and analyze the performance limitations arising in the implementation of basic impedance elements, such as springs and dampers, through the elastic structure preserving impedance (ESPi) control framework. Using the insights obtained, we present a way to design impedance controllers with a damping design based on dynamic extensions. Inspired by the design of shock absorbers and the muscle-tendon model, the presented damping layout requires substantially smaller actuator torques in situations where the robot is subject to harsh impacts. The implementation is facilitated through the ESPi control framework resulting in a physically intuitive impedance design. The resulting closed-loop system can be interpreted as an interconnection of passive Euler Lagrange systems, which again, yields a passive system. The design's passive nature ensures stability in the free motion case and enables the robot to interact robustly and safely with its environment. The work focuses on robotic systems with no inertial coupling between the motor and link dynamics. Experimental results, obtained with the presented design on a dedicated series elastic actuator (SEA) test bed, are reported and discussed.

Item URL in elib:https://elib.dlr.de/146031/
Document Type:Article
Title:Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Loeffl, Florian ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6914-5414UNSPECIFIED
Wandinger, DavidUNSPECIFIEDhttps://orcid.org/0000-0002-3150-8822UNSPECIFIED
Raschel, Clara MariaUNSPECIFIEDhttps://orcid.org/0000-0003-1333-5910UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:25 June 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and impedance control, compliant joints and mechanisms.
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: Keppler, Manuel
Deposited On:23 Nov 2021 10:06
Last Modified:29 Mar 2023 00:00

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