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Compliance and Oscillations in Robotics - on Bad and Good Vibrations

Albu-Schäffer, Alin Olimpiu (2022) Compliance and Oscillations in Robotics - on Bad and Good Vibrations. ERF 2022, EUROPEAN ROBOTICS FORUM, 2022-06-28 - 2022-06-30, Rotterdam, Niederlande.

Full text not available from this repository.

Abstract

In the early days of robotics, hardware compliance used to be regarded as a drawback, reducing the positioning and tracking precision of robots and causing undesired vibration, hard to address by control. Meanwhile, a certain level of compliance, even a mechanically adjustable one, is widely regarded as indispensable for interaction with humans and for skillful manipulation in contact with stiff environments. Also in legged locomotion, inspired by the biological archetypes, many roboticists exploit elasticity for robustness and energy efficiency. At latest here, the complex oscillations of multi-body, compliant systems are not any more parasitic and unwanted, but become an essential feature for achieving performance. However, for treating these highly nonlinear oscillations, new mathematical tools are required, which are currently a topic of intensive research. The talk will give an overview on the evolution of the robotics perspective on compliance and nonlinear oscillations both from hardware design and from control point of view. It will therefore present several examples of DLR robots for manipulation and locomotion in various application areas.

Item URL in elib:https://elib.dlr.de/186813/
Document Type:Conference or Workshop Item (Speech)
Title:Compliance and Oscillations in Robotics - on Bad and Good Vibrations
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115901
Date:30 June 2022
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:robotics, hardware compliance, nonlinear oscillations, tracking precision, legged locomotion
Event Title:ERF 2022, EUROPEAN ROBOTICS FORUM
Event Location:Rotterdam, Niederlande
Event Type:international Conference
Event Start Date:28 June 2022
Event End Date:30 June 2022
Organizer:EUROPEAN ROBOTICS FORUM
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 - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:18 Jul 2022 16:32
Last Modified:24 Apr 2024 20:48

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