Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots

Manuel Keppler; Dominic Lakatos; Alexander Werner; Florian Loeffl; Christian Ott; Alin Albu-Schäffer

doi:10.23919/ECC.2018.8550200

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots

Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer

Informatics 23 - Chair of Sensor-based Robotic Systems and Intelligent Assistance Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.

Original language	English
Title of host publication	2018 European Control Conference, ECC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	255-260
Number of pages	6
ISBN (Electronic)	9783952426982
DOIs	https://doi.org/10.23919/ECC.2018.8550200
State	Published - 27 Nov 2018
Event	16th European Control Conference, ECC 2018 - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018

Publication series

Name	2018 European Control Conference, ECC 2018

Conference

Conference	16th European Control Conference, ECC 2018
Country/Territory	Cyprus
City	Limassol
Period	12/06/18 → 15/06/18

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10.23919/ECC.2018.8550200

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Keppler, M., Lakatos, D., Werner, A., Loeffl, F., Ott, C., & Albu-Schäffer, A. (2018). Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. In 2018 European Control Conference, ECC 2018 (pp. 255-260). Article 8550200 (2018 European Control Conference, ECC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2018.8550200

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title = "Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots",

abstract = "In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.",

author = "Manuel Keppler and Dominic Lakatos and Alexander Werner and Florian Loeffl and Christian Ott and Alin Albu-Sch{\"a}ffer",

note = "Publisher Copyright: {\textcopyright} 2018 European Control Association (EUCA).; 16th European Control Conference, ECC 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

year = "2018",

month = nov,

day = "27",

doi = "10.23919/ECC.2018.8550200",

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Keppler, M, Lakatos, D, Werner, A, Loeffl, F, Ott, C & Albu-Schäffer, A 2018, Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. in 2018 European Control Conference, ECC 2018., 8550200, 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 255-260, 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12/06/18. https://doi.org/10.23919/ECC.2018.8550200

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. / Keppler, Manuel; Lakatos, Dominic; Werner, Alexander et al.
2018 European Control Conference, ECC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 255-260 8550200 (2018 European Control Conference, ECC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots

AU - Keppler, Manuel

AU - Lakatos, Dominic

AU - Werner, Alexander

AU - Loeffl, Florian

AU - Ott, Christian

AU - Albu-Schäffer, Alin

PY - 2018/11/27

Y1 - 2018/11/27

N2 - In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.

AB - In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.

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DO - 10.23919/ECC.2018.8550200

M3 - Conference contribution

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EP - 260

BT - 2018 European Control Conference, ECC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 16th European Control Conference, ECC 2018

Y2 - 12 June 2018 through 15 June 2018

ER -

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots

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