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Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling

Radhakrishna Balachandran, Ribin and De Stefano, Marco and Mishra, Hrishik and Ott, Christian and Albu-Schäffer, Alin (2022) Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling. Mechatronics, 90, p. 102930. Elsevier. doi: 10.1016/j.mechatronics.2022.102930. ISSN 0957-4158.

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Official URL: https://www.sciencedirect.com/science/article/abs/pii/S0957415822001489


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.

Item URL in elib:https://elib.dlr.de/194570/
Document Type:Article
Title:Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Radhakrishna Balachandran, RibinUNSPECIFIEDhttps://orcid.org/0000-0002-7560-471XUNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115935
Date:18 December 2022
Journal or Publication Title:Mechatronics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:p. 102930
Keywords:Robotic control, stiffness, velocities,
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 - Autonomous learning robots [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Geyer, Günther
Deposited On:31 Mar 2023 12:19
Last Modified:11 Sep 2023 13:25

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