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A Modally Adaptive Control for Multi-Contact Cyclic Motions in Compliantly Actuated Robotic Systems

Lakatos, Dominic and Görner, Martin and Petit, Florian and Dietrich, Alexander and Albu-Schäffer, Alin (2013) A Modally Adaptive Control for Multi-Contact Cyclic Motions in Compliantly Actuated Robotic Systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5388-5395. International Conference on Intelligent Robots and Systems, 03.-08. Nov. 2013, Tokio, Japan.

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Abstract

Compliant actuators in robotic systems improve robustness against rigid impacts and increase the performance and efficiency of periodic motions such as hitting, jumping and running. However, in the case of rigid impacts, as they can occur during hitting or running, the system behavior is changed compared to free motions which turns the control into a challenging task. We introduce a controller that excites periodic motions along the direction of an intrinsic mechanical oscillation mode. The controller requires no model knowledge and adapts to a modal excitation by means of measurement of the states. We experimentally show that the controller is able to stabilize a hitting motion on the variable stiffness robot DLR Hand Arm System. Further, we demonstrate by simulation that the approach applies for legged robotic systems with compliantly actuated joints. The controlled system can approach different modes of motion such as jumping, hopping and running, and thereby, it is able to handle the repeated occurrence of robot-ground contacts.

Item URL in elib:https://elib.dlr.de/85549/
Document Type:Conference or Workshop Item (Speech)
Title:A Modally Adaptive Control for Multi-Contact Cyclic Motions in Compliantly Actuated Robotic Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Görner, MartinMartin.Goerner (at) dlr.deUNSPECIFIED
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 5388-5395
Series Name:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:cyclic motions, mechanical oscillation modes, adaptive control, variable stiffness actuation, nonlinear control systems
Event Title:International Conference on Intelligent Robots and Systems
Event Location:Tokio, Japan
Event Type:international Conference
Event Dates:03.-08. Nov. 2013
Organizer:IEEE/RSJ
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Lakatos, Dominic
Deposited On:11 Dec 2013 16:46
Last Modified:31 Jul 2019 19:43

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