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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.

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Pollayil, George Josegeorgejose.pollayil (at) phd.unipi.ithttps://orcid.org/0000-0003-3264-3038
Meng, XumingXuming.Meng (at) dlr.dehttps://orcid.org/0000-0001-5642-1830
Keppler, ManuelManuel.Keppler (at) dlr.dehttps://orcid.org/0000-0002-1532-963X
Pfanne, Martinmartin.pfanne (at) dlr.dehttps://orcid.org/0000-0003-2076-4772
Bicchi, Antonioantonio.bicchi (at) unipi.ithttps://orcid.org/0000-0001-8635-5571
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:20 December 2021
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/LCSYS.2021.3136749
Editors:
EditorsEmailEditor's ORCID iD
Valcher, Maria Elenameme@dei.unipd.ithttps://orcid.org/0000-0002-7595-3688
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2475-1456
Status:Published
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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