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Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case

Schmidt, Annika and Gumpert, Thomas and Schreiber, Stefan and Albu-Schäffer, Alin Olimpiu (2022) Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case. In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022, pp. 1144-1151. IEEE. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022-07-11 - 2022-07-15, Sapporo, Japan. doi: 10.1109/AIM52237.2022.9863397. ISBN 978-166541308-4. ISSN 2159-6255.

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Official URL: https://ieeexplore.ieee.org/abstract/document/9863397

Abstract

Incorporating realistic actuator dynamics in robotic simulations is key to a successful simulation-to-reality transfer. But real actuation chains are often complex and impossible to model with analytical methods alone. Although it is feasible to reverse-engineer the actuator dynamics from hardware measurements, this requires the completed robotic system to be already available. To enable the inclusion of realistic actuator dynamics in robot models also during the design phase or for initial controller tuning, this work presents an alternative hands-on approach for actuator characterization. Based on actuator measurements taken independently of the overall system integration, a model expression for the actuator is derived. This can be added to the simulation of any robotic system. To showcase this concept, we present the workflow for a robotic leg with a Series Elastic Actuation chain. We create a simulation of the leg incorporating the derived actuator model and show its validity through comparison with analogous hardware. The observed motor and link dynamics of both cases show close correspondence without increasing the needed computation times with respect to a simulation without actuation. Thus, the proposed method offers a promising approach to include realistic actuator dynamics during the design and development process of robotic applications.

Item URL in elib:https://elib.dlr.de/197476/
Document Type:Conference or Workshop Item (Speech)
Title:Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schmidt, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0002-4718-4201142819865
Gumpert, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schreiber, StefanTUMUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142819866
Date:25 August 2022
Journal or Publication Title:2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/AIM52237.2022.9863397
Page Range:pp. 1144-1151
Publisher:IEEE
ISSN:2159-6255
ISBN:978-166541308-4
Status:Published
Keywords:Legged locomotion, Actuators, Analytical models, Mechatronics, Computational modeling, Sea measurements, Aerodynamics
Event Title:IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Event Location:Sapporo, Japan
Event Type:international Conference
Event Start Date:11 July 2022
Event End Date:15 July 2022
Organizer:IEEE
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)
Deposited By: Schmidt, Annika
Deposited On:22 Sep 2023 11:45
Last Modified:24 Apr 2024 20:57

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