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Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints

Braun, David J. and Petit, Florian and Felix Huber, Felix Huber and Sami Haddadin, Sami Haddadin and Patrick van der Smagt, Patrick van der Smagt and Albu-Schäffer, Alin and Sethu Vijayakumar, Sethu Vijayakumar (2013) Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Transactions on Robotics, VOL. 2 (NO. 5), pp. 1085-1101. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TRO.2013.2271099 ISSN 1552-3098

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Abstract

Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variableimpedance actuators, used to drive many of these devices, are capable of modulating torque and impedance (stiffness and/or damping) simultaneously, continuously, and independently. These actua tors are, however, nonlinear and assert numerous constraints, e.g., range, rate, and effort limits on the dynamics. Finding a control strategy that makes use of the intrinsic dynamics and capacity of compliant actuators for such redundant, nonlinear, and constrained systems is nontrivial. In this study, we propose a framework for optimization of torque and impedance profiles in order to maximize task performance, which is tuned to the complex hardware and incorporating real-world actuation constraints. Simulation study and hardware experiments 1) demonstrate the effects of actuation constraints during impedance control, 2) show applicability of the present framework to simultaneous torque and temporal stiffness optimization under constraints that are imposed by real-world actuators, and 3) validate the benefits of the proposed approach under experimental conditions.

Item URL in elib:https://elib.dlr.de/85520/
Document Type:Article
Title:Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Braun, David J.University of EdinburghUNSPECIFIED
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Felix Huber, Felix HuberFelix.Huber (at) dlr.deUNSPECIFIED
Sami Haddadin, Sami HaddadinSami.Haddadin (at) dlr.deUNSPECIFIED
Patrick van der Smagt, Patrick van der SmagtTUMUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Sethu Vijayakumar, Sethu VijayakumarUniversity of EdinburghUNSPECIFIED
Date:October 2013
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:VOL. 2
DOI :10.1109/TRO.2013.2271099
Page Range:pp. 1085-1101
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:Dynamics, optimal impedance control, redundant robots, variable impedance actuation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Beinhofer, Gabriele
Deposited On:17 Dec 2013 13:50
Last Modified:06 Sep 2019 15:18

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