Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives

Erfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

41 Scopus citations

Abstract

In this paper, we develop a framework to encode demonstrated trajectories as periodic dynamic motion primitives (DMP) for an impedance-controlled robot and their modification to fulfil the task objective, i. e.To adapt based on the force feedback and encoded desired wrench profile via an admittance controller. This behavior by itself can violate stability. Therefore, a passivity analysis for the whole system is presented, and based on input power ports and the demonstrated reference power, a passivity observer (PO) is designed. Subsequently, a DMP phase altering law is introduced according to the passivity criterion in order to adjust the phase based on the passivity criterion. However, since this does not necessarily guarantee passivity, a suitable virtual energy tank is used. Experimental results on a Kuka LWR-4 robot polishing an unknown surface underline the real world applicability the suggested controller.

Original languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PublisherIEEE Computer Society
Pages136-142
Number of pages7
ISBN (Electronic)9781538646786
DOIs
StatePublished - 22 Dec 2017
Externally publishedYes
Event17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom
Duration: 15 Nov 201717 Nov 2017

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Country/TerritoryUnited Kingdom
CityBirmingham
Period15/11/1717/11/17

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