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Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators

Harder, Marie Christin and Keppler, Manuel and Meng, Xuming and Ott, Christian and Höppner, Hannes and Dietrich, Alexander (2022) Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics and Automation Letters, 7 (3), pp. 6614-6621. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3176094. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9779469


Since safe human-robot interaction is naturally linked to compliance in these robots, this requirement presents a challenge for the positioning accuracy. The class of variable- stiffness robots features intrinsically soft contact behavior where the physical stiffness can even be altered during operation. Here we present a control scheme for bidirectional, antagonistic variable-stiffness actuators that achieve high-precision link-side trajectory tracking while simultaneously ensuring compliance during physical contact. Furthermore, the approach enables to regulate the pretension in the antagonism. The theoretical claims are confirmed by formal analyses of passivity during physical interaction and the proof of uniform asymptotic stability of the desired link-side trajectories. Experiments on the forearm joint of the DLR robot David verify the proposed approach.

Item URL in elib:https://elib.dlr.de/188136/
Document Type:Article
Additional Information:“© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
Title:Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Harder, Marie ChristinUNSPECIFIEDhttps://orcid.org/0000-0001-7188-7233UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Meng, XumingUNSPECIFIEDhttps://orcid.org/0000-0001-5642-1830UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Date:July 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. 6614-6621
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Motion Control, 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: Harder, Marie Christin
Deposited On:06 Sep 2022 18:56
Last Modified:06 Sep 2022 18:56

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