NDLI: An active compliant control mode for interaction with a pneumatic soft robot

Content Provider	IEEE Xplore Digital Library
Author	Queisser, J.F. Neumann, K. Rolf, M. Reinhart, R.F. Steil, J.J.
Copyright Year	2014
Description	Author affiliation: Dept. of Adaptive Machine Syst., Osaka Univ., Suita, Japan (Rolf, M.) \|\| Res. Inst. of Cognition & Robot., Bielefeld Univ., Bielefeld, Germany (Queisser, J.F.; Neumann, K.; Reinhart, R.F.; Steil, J.J.)
Abstract	Bionic soft robots offer exciting perspectives for more flexible and safe physical interaction with the world and humans. Unfortunately, their hardware design often prevents analytical modeling, which in turn is a prerequisite to apply classical automatic control approaches. On the other hand, also modeling by means of learning is hardly feasible due to many degrees of freedom, high-dimensional state spaces and the softness properties like e.g. mechanical elasticity, which cause limited repeatability and complex dynamics. Nevertheless, the realization of basic control modes is important to leverage the potential of soft robots for applications. We therefore propose a hybrid approach combining classical and learning elements for the realization of an interactive control mode for an elastic bionic robot. It superimposes a low-gain feedback control with a feed-forward control based on a learned simplified model of the inverse dynamics which considers only equilibria of the robot's dynamics. We demonstrate on the Bionic Handling Assistant how a respective inverse equilibrium model can be learned and effectively exploited for quick and agile control. In a second step, the control scheme is extended to an active compliant control mode. It implements a kind of gravitation compensation to allow for kinesthetic teaching of the robot based on the implicit knowledge of gravitational and mechanical forces that are encoded in the learned equilibrium model. We finally discuss that this control scheme may be implemented also on other soft robots to provide the avenue towards their applications in general manipulation tasks.
Starting Page	573
Ending Page	579
File Size	3340870
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Data models Pneumatic systems Convergence Biological system modeling Actuators
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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