NDLI: Optimal control for exploiting the natural dynamics of Variable Stiffness robots

Content Provider	IEEE Xplore Digital Library
Author	Haddadin, S. Huber, F. Albu-Schaffer, A.
Copyright Year	2012
Description	Author affiliation: Institute of Robotics and Mechatronics, DLR - German Aerospace Center, Wessling, Germany (Haddadin, S.; Huber, F.; Albu-Schaffer, A.)
Abstract	In contrast to common rigid or actively compliant systems, Variable Stiffness Arms are capable of storing potential energy in their joint and convert it into kinetic energy, respectively speed. This capability is well known from humans and is a good example for the outstanding performance of biological systems. However, only since some years intrinsic compliance is considered as a key feature and not a drawback in robot design. Therefore, only very little work has been carried out on exploiting the natural dynamics of elastic arms for such explosive motion sequences. In this paper, we treat the problem of how to optimally achieve maximum link velocity at a given final time for Variable Stiffness Arms. We show that solutions to this problem lead to excitation motions, which enable the robot to move on the link side at much higher speed than on the motor side. In particular, the robot uses the dynamic transfer of elastic joint energy into link side kinetic energy for further acceleration. In our work we consider the practically relevant input and state constraints, and give experimental verification of the developed methods on the new DLR Hand-Arm system.
Starting Page	3347
Ending Page	3354
File Size	1682464
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225190
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Joints Optimal control Humans Torque Couplings Dynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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