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Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability, and Observations for Dribbling

Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin (2011) Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability, and Observations for Dribbling. In: Proceedings. CDC2011. Conference on Decision and Control, 2011, Orlando, USA.

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Abstract

For creating robots that are capable of human like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper we investigate the effects of elastic energy storage and release for ball dribbling in terms of cycle stability.We base the analysis on error evolution, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e. no vision is used in our approach.

Item URL in elib:https://elib.dlr.de/73734/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability, and Observations for Dribbling
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiSami.Haddadin (at) dlr.deUNSPECIFIED
Krieger, KaiKai.Krieger (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:elastische Roboter, nichtlineare Regelungstechnik, Grenzzyklenanalyse, Robustheit, Roboterbasketball
Event Title:CDC2011. Conference on Decision and Control
Event Location:Orlando, USA
Event Type:international Conference
Event Dates:2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:10 Jan 2012 08:48
Last Modified:31 Jul 2019 19:34

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