TY - GEN
T1 - Energy control for complex pendulums based on tracking of online computed force trajectories
AU - Christange, Franz
AU - Donner, Philine
AU - Buss, Martin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating the intended oscillation as a simple pendulum oscillation, we can specify a desired force trajectory. Tracking of this force trajectory results in a controlled swing-up of the intended oscillation accompanied by a simultaneous damping of the disturbance oscillations. Simulation experiments with a two-agent trapezoidal pendulum show convincing control performance. A human-robot virtual reality experiment shows the transferability of the control approach to a human interaction partner. The limitations of the approach are discussed based on simulation results obtained for a single-agent double pendulum.
AB - In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating the intended oscillation as a simple pendulum oscillation, we can specify a desired force trajectory. Tracking of this force trajectory results in a controlled swing-up of the intended oscillation accompanied by a simultaneous damping of the disturbance oscillations. Simulation experiments with a two-agent trapezoidal pendulum show convincing control performance. A human-robot virtual reality experiment shows the transferability of the control approach to a human interaction partner. The limitations of the approach are discussed based on simulation results obtained for a single-agent double pendulum.
UR - http://www.scopus.com/inward/record.url?scp=84938247603&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7140047
DO - 10.1109/ICRA.2015.7140047
M3 - Conference contribution
AN - SCOPUS:84938247603
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6044
EP - 6051
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -