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Backstepping experimentally applied to an antagonistically driven finger with flexible tendons

Chalon, Maxime and d'Andréa-Novel, Brigitte (2014) Backstepping experimentally applied to an antagonistically driven finger with flexible tendons. Elsevier Ltd.. IFAC World Congress, 24-29 Aug. 2014, Captown, South Africa. DOI: 10.3182/20140824-6-ZA-1003.00155

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Official URL: http://www.sciencedirect.com/science/article/pii/S1474667016416186


The Hand Arm System of DLR is a complex mechatronic system built to approach the human in terms of dynamics and dexterity. Its fingers are antagonistically actuated by flexible tendons, resulting in a nonlinear flexible joint. The advantages of such a design are the high dynamics but more importantly the enhanced robustness. Nonlinear control methods have been developed in the community that are, at least in principle, applicable to such systems. However, because of the complexity of some methods, most works are focusing on simulations and do not consider the practical issues arising with hardware. Such issues are, for example, the need for derivatives or the use of large matrix inversions. In this paper, we adapt the backstepping method to the specific case of an antagonistic actuation. The modeling of the mechanism is followed by the design of the controller and the work is concluded by a set of experimental results on the hand of the Hand Arm System, the ”Awiwi hand”.

Item URL in elib:https://elib.dlr.de/90572/
Document Type:Conference or Workshop Item (Speech)
Title:Backstepping experimentally applied to an antagonistically driven finger with flexible tendons
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chalon, MaximeMaxime.Chalon (at) dlr.deUNSPECIFIED
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.3182/20140824-6-ZA-1003.00155
Page Range:pp. 217-223
Publisher:Elsevier Ltd.
Keywords:Tendon driven, Backstepping, nonlinear control, Hand Arm System
Event Title:IFAC World Congress
Event Location:Captown, South Africa
Event Type:international Conference
Event Dates:24-29 Aug. 2014
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Chalon, Maxime
Deposited On:19 May 2017 14:38
Last Modified:31 Jul 2019 19:47

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