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Orientation Control with Variable Stiffness Dynamical Systems

Michel, Youssef and Saveriano, Matteo and Abu-Dakka, Fares J. and Lee, Dongheui (2023) Orientation Control with Variable Stiffness Dynamical Systems. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, pp. 4457-4463. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10342531. ISBN 978-166549190-7. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/10342531


Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that adapts the robot's rotational motion and impedance in a closed-loop manner. Given a first-order Dynamical System representing an orientation motion plan and a desired rotational stiffness profile, our approach enables the robot to follow the reference motion with an interactive behavior specified by the desired stiffness, while always being aware of the current orientation, represented as a Unit Quaternion (UQ). We rely on the Lie algebra to formulate our algorithm, since unlike positions, UQ feature constraints that should be respected in the devised controller. We validate our proposed approach in multiple robot experiments, showcasing the ability of our controller to follow complex orientation profiles, react safely to perturbations, and fulfill physical interaction tasks.

Item URL in elib:https://elib.dlr.de/202167/
Document Type:Conference or Workshop Item (Speech)
Title:Orientation Control with Variable Stiffness Dynamical Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:13 December 2023
Journal or Publication Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 4457-4463
Keywords:variable stiffness
Event Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Detroit, MI, USA
Event Type:international Conference
Event Start Date:1 October 2023
Event End Date:5 October 2023
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 - Interacting Robot Control [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Jan 2024 14:42
Last Modified:24 Apr 2024 21:02

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