An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots

Maximilian Stölzle, Daniela Rus, Cosimo Della Santina

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.

OriginalspracheEnglisch
TitelExperimental Robotics - The 18th International Symposium
Redakteure/-innenMarcelo H. Ang Jr, Oussama Khatib
Herausgeber (Verlag)Springer Nature
Seiten153-167
Seitenumfang15
ISBN (Print)9783031635953
DOIs
PublikationsstatusVeröffentlicht - 2024
Extern publiziertJa
Veranstaltung18th International Symposium on Experimental Robotics, ISER 2023 - Chiang Mai, Thailand
Dauer: 26 Nov. 202330 Nov. 2023

Publikationsreihe

NameSpringer Proceedings in Advanced Robotics
Band30
ISSN (Print)2511-1256
ISSN (elektronisch)2511-1264

Konferenz

Konferenz18th International Symposium on Experimental Robotics, ISER 2023
Land/GebietThailand
OrtChiang Mai
Zeitraum26/11/2330/11/23

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