Paper Info
Title
A Fail-Safe Semi-Centralized Impedance Controller: Validation On A Parallel Kinematics Ankle
Abstract
This paper proposes the implementation of an impedance controller on the ankle level of COMAN+, a robot with parallel kinematics ankles actuated by a dual four-bar mechanism. The main contribution of the work is a realization of said control scheme that grants a less abrupt and safer robot response in case of system failures, that would cause the local joint torque controllers to lose their torque reference inputs. In particular, we propose a semi-centralized impedance control implementation which eliminates the instability of the pure joint torque control schemes used in the classical fully centralized methods when torque reference interruptions occur. Finally, we present experimental results, proving the effectiveness of our method and demonstrating how it ensures a safer behaviour compared to a fully centralized impedance control implementation when the communication to the ankle joints is interrupted. This paper is a follow-up work of [1], which presented and analyzed the parallel kinematics ankles.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594112
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Control theory,Torque,Kinematics,Control theory,Computer science,Control engineering,Impedance control,Fail-safe,Robot,Actuator,Humanoid robot
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Francesco Ruscelli101.69
Arturo Laurenzi2249.04
Enrico Mingo Hoffman35413.32
NG Tsagarakis41492159.09