Albu-Schäffer, Alin und Sachtler, Arne (2023) What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? In: 18th International Symposium of Robotics Research, ISRR 2022, 27, Seiten 468-484. Springer Nature Switzerland. 18th International Symposium of Robotics Research, ISRR 2022, 2022-09-25 - 2022-09-30, Geneva, Switzerland. doi: 10.1007/978-3-031-25555-7_32. ISBN 978-303125554-0. ISSN 2511-1256.
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Offizielle URL: https://link.springer.com/chapter/10.1007/978-3-031-25555-7_32
Kurzfassung
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one can first consider the robot's intrinsic dynamics and optimize it in accordance with the desired tasks. Therefore, one needs to better understand intrinsic, uncontrolled dynamics of robotic systems. In this paper we focus on periodic orbits, as fundamental dynamic properties with many practical applications. Algebraic topology and differential geometry provide some fundamental statements about existence of periodic orbits. As an example, we present periodic orbits of the simplest multi-body system: the double-pendulum in gravity. This simple system already displays a rich variety of periodic orbits. We classify these into three classes: toroidal orbits, disk orbits and nonlinear normal modes. Some of these we found by geometrical insights and some by numerical simulation and sampling.
elib-URL des Eintrags: | https://elib.dlr.de/194319/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? | ||||||||||||||||
Autoren: |
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Datum: | 8 März 2023 | ||||||||||||||||
Erschienen in: | 18th International Symposium of Robotics Research, ISRR 2022 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Band: | 27 | ||||||||||||||||
DOI: | 10.1007/978-3-031-25555-7_32 | ||||||||||||||||
Seitenbereich: | Seiten 468-484 | ||||||||||||||||
Herausgeber: |
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Verlag: | Springer Nature Switzerland | ||||||||||||||||
Name der Reihe: | Springer Proceedings in Advanced Robotics | ||||||||||||||||
ISSN: | 2511-1256 | ||||||||||||||||
ISBN: | 978-303125554-0 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotics, Control, Mechanics, Nonlinear Dynamics, Theoretical Mechanics, Classical Mechanics, Physics | ||||||||||||||||
Veranstaltungstitel: | 18th International Symposium of Robotics Research, ISRR 2022 | ||||||||||||||||
Veranstaltungsort: | Geneva, Switzerland | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 25 September 2022 | ||||||||||||||||
Veranstaltungsende: | 30 September 2022 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Leitungsbereich Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Sachtler, Arne | ||||||||||||||||
Hinterlegt am: | 12 Apr 2023 13:04 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:55 |
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