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Optimal Torque and Stiffness Control in Compliantly Actuated Robots

Braun, D. J. and Petit, Florian and Huber, Felix and Haddadin, Sami and van der Smagt, Patrick and Albu-Schäffer, Alin and Vijayakumar, Sethu (2012) Optimal Torque and Stiffness Control in Compliantly Actuated Robots. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , 7-12 Oct 2012, Vilamoura, Portugal. doi: 10.1109/iros.2012.6385991.

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Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and passive impedance (stiffness and/or damping) simultaneously and independently. Here, we propose a framework for simultaneous optimisation of torque and impedance (stiffness) profiles in order to optimise task performance, tuned to the complex hardware and incorporating real-world constraints. Simulation and hardware experiments validate the viability of this approach to complex, state dependent constraints and demonstrate task performance benefits of optimal temporal impedance modulation.

Item URL in elib:https://elib.dlr.de/80631/
Document Type:Conference or Workshop Item (Paper)
Title:Optimal Torque and Stiffness Control in Compliantly Actuated Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Braun, D. J.Institute of Perception Action and Behaviour, University of EdinburghUNSPECIFIEDUNSPECIFIED
Petit, FlorianRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Huber, FelixRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Haddadin, SamiRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
van der Smagt, PatrickRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Vijayakumar, SethuInstitute of Perception Action and Behaviour, University of Edinburgh,UNSPECIFIEDUNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Variable-stiffness actuation, physical constraints, optimal control
Event Title:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vilamoura, Portugal
Event Type:international Conference
Event Dates:7-12 Oct 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 16:10
Last Modified:24 Jul 2023 09:24

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