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Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference

Panzirsch, Michael and Sierotowicz, Marek and Prakash, Revanth and Singh, Harsimran and Ott, Christian (2022) Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference. IEEE Robotics and Automation Letters, 7 (2), pp. 4440-4447. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3147566. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9699036


With emerging capabilities, robots will advance gradually into human environments in the near future. Thereby, safety and robustness is currently tackled through intrinsically soft robotics or variable impedances, mainly stiffnesses. In tele-operation, for instance, the control stiffness can be adapted to a measured arm impedance of the operator to stiffen the robot only when required for a manipulation task. Thus, humans or moving objects in the robot's environment are protected from hard collisions. Independent from its realization through hardware or software, the stability of the variation needs to be ensured through control strategies since energy is potentially introduced into the robotic system. This work presents a novel gradient-based passivity control concept for variable stiffnesses. In contrast to state-of-the-art methods, the approach is based on a potential energy storage reference and prevents phases of zero stiffness through deflection-domain control. I.e., according to the energy storage, the stiffness variation over the spring deflection is controlled to ensure passivity. Experiments confirm the functionality of the approach and its robustness against delayed communication and active environments.

Item URL in elib:https://elib.dlr.de/186202/
Document Type:Article
Title:Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Panzirsch, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-0647-7147UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:1 February 2022
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
Page Range:pp. 4440-4447
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:variable stiffness, deflection domain, teleoperation, passivity control
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 - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:02 May 2022 11:12
Last Modified:02 May 2022 11:12

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