Paper Info
Title
A Modally Adaptive Control For Multi-Contact Cyclic Motions In Compliantly Actuated Robotic Systems
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.
Year
Venue
Keywords
2013
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
motion control,actuators,adaptive control,shear modulus
Field
DocType
ISSN
Motion control,Oscillation,Control theory,Jumping,Simulation,Control theory,Computer science,Robustness (computer science),Control engineering,Adaptive control,Robot,Actuator
Conference
2153-0858
Citations 
PageRank 
References 
6
0.50
5
Authors
5
Name
Order
Citations
PageRank
Dominic Lakatos1478.03
Martin Görner2473.15
Florian Petit3907.90
Alexander Dietrich4797.35
Alin Albu-Schaffer52831262.17