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Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)

Mengacci, Riccardo and Keppler, Manuel and Pfanne, Martin and Bicchi, Antonio and Ott, Christian (2021) Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa). IEEE Robotics and Automation Letters, 6 (2), pp. 879-886. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3052434. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9327475


The regulation of the link positions of compliant robots, damping out undesired link oscillations while preserving the system's inherent elasticity is still a challenging task in practical applications. This task becomes even harder to be tackled in the case of compliant robots driven by agonistic-antagonistic variable stiffness actuators in which there are two motors associated with each joint of the system. In this work, leveraging on the physical realization of the elastic mechanism of such actuators, we propose a novel control law able to simultaneously achieve a good regulation performance and a desired damped behavior at the link, while preserving the elastic structure of the system as well as the possibility of adjusting the passive stiffness at the joints. Simulations on the agonistic-antagonistic actuators of the forearm and wrist joints of the Hand Arm System from the German Aerospace Center (DLR) and experiments on a planar platform with an analogous actuation unit, namely qbMove Advanced, validate the proposed method.

Item URL in elib:https://elib.dlr.de/195283/
Document Type:Article
Title:Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mengacci, RiccardoUniversità di Pisahttps://orcid.org/0000-0002-2194-8437UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Pfanne, MartinUNSPECIFIEDhttps://orcid.org/0000-0003-2076-4772UNSPECIFIED
Bicchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0001-8635-5571UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:18 January 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 879-886
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Springs, Actuators, Torque, Robots, Damping, Elasticity, Task analysis
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], R - Lightweight robotics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:30 May 2023 07:16
Last Modified:30 May 2023 07:16

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