TY - GEN
T1 - Experimental Analysis of Structural Vibration Problems of a Biped Walking Robot
AU - Berninger, Tobias F.C.
AU - Sygulla, Felix
AU - Fuderer, Sebastian
AU - Rixen, Daniel J.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics limit our control design for walking control as well as low level position control of the joints. We also provide a procedure to identify weaknesses in the structural design of our biped using Experimental Modal Analysis. Using this method, we could successfully identify the structural modes of the system. Furthermore, we were able to use a closed-loop identification method to show a connection between the control loop resonances and the structural resonances of our robot.
AB - Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics limit our control design for walking control as well as low level position control of the joints. We also provide a procedure to identify weaknesses in the structural design of our biped using Experimental Modal Analysis. Using this method, we could successfully identify the structural modes of the system. Furthermore, we were able to use a closed-loop identification method to show a connection between the control loop resonances and the structural resonances of our robot.
UR - http://www.scopus.com/inward/record.url?scp=85092704571&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197282
DO - 10.1109/ICRA40945.2020.9197282
M3 - Conference contribution
AN - SCOPUS:85092704571
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8726
EP - 8731
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -