Details
| Original language | English |
|---|---|
| Article number | 7364186 |
| Pages (from-to) | 161-168 |
| Number of pages | 8 |
| Journal | Robotics and Automation Letters, IEEE |
| Volume | 1 |
| Issue number | 1 |
| Publication status | Published - 1 Jan 2016 |
Abstract
Keywords
- Actuators, Force, Impedance, Mathematical model, Pressure sensors, Robots, Compliance and impedance control, compliance and impedance control, hydraulic/ pneumatic actuators, hydraulic/pneumatic actuators, tendon/wire mechanism, pneumatic actuators tendon, wire mechanism, Compliance and impedance control hydraulic
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Computer Science Applications
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: Robotics and Automation Letters, IEEE, Vol. 1, No. 1, 7364186, 01.01.2016, p. 161-168.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Antagonistic Impedance Control for Pneumatically Actuated Robot Joints
AU - Toedtheide, A.
AU - Lilge, T.
AU - Haddadin, S.
N1 - Publisher Copyright: © 2015 IEEE. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2016/1/1
Y1 - 2016/1/1
N2 - This letter presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor setups to pneumatic systems, with the goal of achieving similar performance levels in comparison to this well established technology. A detailed flexible joint model is derived that incorporates the pneumatic and mechanical dynamics of the proposed antagonistic design. This model is used for analyzing model-based control approaches, which in turn are based on reduced order dynamics. The tendon-based joint level impedance controller enables the simultaneous adjustment of closed-loop stiffness and damping. The proposed scheme shows good simulation results for both, position tracking and compliance performance, respectively. Experimentally, an angular position tracking of 7 Hz could be achieved. Also, stable rigid contacts could be established at considerable impact speed.
AB - This letter presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor setups to pneumatic systems, with the goal of achieving similar performance levels in comparison to this well established technology. A detailed flexible joint model is derived that incorporates the pneumatic and mechanical dynamics of the proposed antagonistic design. This model is used for analyzing model-based control approaches, which in turn are based on reduced order dynamics. The tendon-based joint level impedance controller enables the simultaneous adjustment of closed-loop stiffness and damping. The proposed scheme shows good simulation results for both, position tracking and compliance performance, respectively. Experimentally, an angular position tracking of 7 Hz could be achieved. Also, stable rigid contacts could be established at considerable impact speed.
KW - Actuators
KW - Force
KW - Impedance
KW - Mathematical model
KW - Pressure sensors
KW - Robots
KW - Compliance and impedance control
KW - compliance and impedance control
KW - hydraulic/ pneumatic actuators
KW - hydraulic/pneumatic actuators
KW - tendon/wire mechanism
KW - pneumatic actuators tendon
KW - wire mechanism
KW - Compliance and impedance control hydraulic
UR - http://www.scopus.com/inward/record.url?scp=85058585271&partnerID=8YFLogxK
U2 - 10.1109/LRA.2015.2511663
DO - 10.1109/LRA.2015.2511663
M3 - Article
VL - 1
SP - 161
EP - 168
JO - Robotics and Automation Letters, IEEE
JF - Robotics and Automation Letters, IEEE
SN - 2377-3766
IS - 1
M1 - 7364186
ER -