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Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems

Pollayil, George Jose and Meng, Xuming and Keppler, Manuel and Pfanne, Martin and Bicchi, Antonio and Ott, Christian (2021) Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2021.3136749. ISSN 2475-1456.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9656538


Traditionally, most of the nonlinear control techniques for elastic robotic systems focused on achieving a desired closed-loop behavior by modifying heavily the intrinsic properties of the plant. This is also the case of elastic tendon-driven systems, where the highly nonlinear couplings lead to several control challenges. Following the current philosophy of exploiting the mechanical compliance rather than fighting it, this letter proposes an Elastic Structure Preserving impedance (ESPi) control for systems with coupled elastic tendinous transmissions. Our strategy achieves a globally asymptotically stable closed-loop system that minimally shapes the intrinsic inertial and elastic structure. %to add desired stiffness and damping on the link side. It further allows to impose a desired link-side impedance behavior. Simulations performed on the tendon-driven index finger of the DLR robot David show satisfactory results of link-side interaction behavior and set-point regulation.

Item URL in elib:https://elib.dlr.de/147768/
Document Type:Article
Title:Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pollayil, George JoseUNSPECIFIEDhttps://orcid.org/0000-0003-3264-3038UNSPECIFIED
Meng, XumingUNSPECIFIEDhttps://orcid.org/0000-0001-5642-1830UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Pfanne, MartinUNSPECIFIEDhttps://orcid.org/0000-0003-2076-4772UNSPECIFIED
Bicchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0001-8635-5571UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:20 December 2021
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Valcher, Maria ElenaUNSPECIFIEDhttps://orcid.org/0000-0002-7595-3688UNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robotics, control applications
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], R - Interacting Robot Control [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Meng, Xuming
Deposited On:21 Dec 2021 12:47
Last Modified:22 Dec 2021 16:33

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