Name
Title | ||
|---|---|---|
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input. |
Abstract | ||
|---|---|---|
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory in the robotu0027s state space, in simulation. The state trajectory used here corresponds to a bending motion of the spine, with translations and rotations of the moving vertebrae. Two different controllers are presented in this work: one that does not use a reference input but includes smoothing constrants, and a second one that uses a reference input without smoothing. For the smoothing controller, without reference inputs, the error converges to zero, while the simpler-to-tune controller with an input reference shows small errors but not complete convergence. It is expected that this controller will converge as it is improved further. |
Year | Venue | Field |
|---|---|---|
2018 | arXiv: Systems and Control | Convergence (routing),Control theory,Control theory,Tensegrity,Smoothing,Underactuation,Robot,State space,Trajectory,Mathematics |
DocType | Volume | ISSN |
Journal | abs/1808.08309 | 2017 NASA/ESA Conference on Adaptive Hardware and Systems -
Workshop on Structurally Adaptive Tensegrity Robots |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
9 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Andrew P. Sabelhaus | 1 | 0 | 2.37 |
| Shirley Huajing Zhao | 2 | 0 | 0.34 |
| Mallory C. Daly | 3 | 0 | 0.34 |
| Ellande Tang | 4 | 0 | 0.68 |
| Edward Zhu | 5 | 0 | 1.69 |
| Abishek K. Akella | 6 | 0 | 0.34 |
| Zeerek A. Ahmad | 7 | 0 | 0.34 |
| Vytas SunSpiral | 8 | 36 | 7.03 |
| Alice M. Agogino | 9 | 288 | 81.04 |