Radhakrishna Balachandran, Ribin und De Stefano, Marco und Mishra, Hrishik und Ott, Christian und Albu-Schäffer, Alin (2022) Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling. Mechatronics, 90, Seite 102930. Elsevier. doi: 10.1016/j.mechatronics.2022.102930. ISSN 0957-4158.
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Offizielle URL: https://www.sciencedirect.com/science/article/abs/pii/S0957415822001489
Kurzfassung
n mixed-initiative shared control, the final control command to the robot is a weighted sum of the commands from two or more agents (human operators or automatic control systems). In force controlled robots, scaling of forces without power-consistent scaling of velocities leads to loss of passivity of the overall system. In this work, we first pose the problem statement related to position drift, while using a state-of-the-art, passivity ensuring method for scaling of forces. We then formulate adaptive mixed-initiative shared control as an adaptive stiffness control approach. We ensure passivity of the adaptive stiffness controller with a novel, model-independent method. The salient features, benefits and limitations of the approach are emphasized through analyses, simulations and hardware experiments. The proposed approach is finally validated with a practical shared control task.
elib-URL des Eintrags: | https://elib.dlr.de/194570/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling | ||||||||||||||||||||||||
Autoren: |
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Datum: | 18 Dezember 2022 | ||||||||||||||||||||||||
Erschienen in: | Mechatronics | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 90 | ||||||||||||||||||||||||
DOI: | 10.1016/j.mechatronics.2022.102930 | ||||||||||||||||||||||||
Seitenbereich: | Seite 102930 | ||||||||||||||||||||||||
Verlag: | Elsevier | ||||||||||||||||||||||||
ISSN: | 0957-4158 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Robotic control, stiffness, velocities, | ||||||||||||||||||||||||
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 - Autonome, lernende Roboter [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Geyer, Günther | ||||||||||||||||||||||||
Hinterlegt am: | 31 Mär 2023 12:19 | ||||||||||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:25 |
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