Details
| Original language | English |
|---|---|
| Article number | 8263400 |
| Pages (from-to) | 91-112 |
| Number of pages | 22 |
| Journal | IEEE transactions on robotics |
| Volume | 34 |
| Issue number | 1 |
| Early online date | 18 Jan 2018 |
| Publication status | Published - Feb 2018 |
Abstract
For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects of elastic energy storage and release for basketball dribbling in terms of open-loop cycle stability. We base the analysis, which is performed for the 1-degree-of-freedom (DoF) case, on error propagation, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. To back up our basic insights, we extend the 1-DoF controller to 6-DoFs and show how passive compliance can be exploited for a 6-DoF cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled robot. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e., no visual information is necessary in our approach. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on the 1-DoF analysis for the primary vertical axis together with control strategies for the secondary translations and rotations of the task. The scheme allows also the continuous tracking of a desired dribbling height and horizontal position. The approach is also used to hypothesize about human dribbling and is validated with captured data.
Keywords
- Analytical models, Elasticity, Robots, Springs, Stability analysis, Trajectory, Cycle stability analysis, disturbance observer, elastic energy storage, flexible joint manipulators, limit cycles, variable stiffness actuation
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
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In: IEEE transactions on robotics, Vol. 34, No. 1, 8263400, 02.2018, p. 91-112.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Exploiting Elastic Energy Storage for ''Blind'' Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling
AU - Haddadin, S.
AU - Krieger, K.
AU - Albu-Schäffer, A.
AU - Lilge, T.
N1 - Funding information: This paper was recommended for publication by Associate Editor H. Kress-Gazit and Editor A. Kheddar upon evaluation of the reviewers’ comments. This work was supported by the European Commission’s Sixth Framework Programme as part of the project SAPHARI under Grant 287513, in part by the European Unions Horizon 2020 Research and Innovation Programme under Grant 688857, and in part by the Alfried-Krupp Award for Young Professors.
PY - 2018/2
Y1 - 2018/2
N2 - For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects of elastic energy storage and release for basketball dribbling in terms of open-loop cycle stability. We base the analysis, which is performed for the 1-degree-of-freedom (DoF) case, on error propagation, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. To back up our basic insights, we extend the 1-DoF controller to 6-DoFs and show how passive compliance can be exploited for a 6-DoF cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled robot. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e., no visual information is necessary in our approach. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on the 1-DoF analysis for the primary vertical axis together with control strategies for the secondary translations and rotations of the task. The scheme allows also the continuous tracking of a desired dribbling height and horizontal position. The approach is also used to hypothesize about human dribbling and is validated with captured data.
AB - For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects of elastic energy storage and release for basketball dribbling in terms of open-loop cycle stability. We base the analysis, which is performed for the 1-degree-of-freedom (DoF) case, on error propagation, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. To back up our basic insights, we extend the 1-DoF controller to 6-DoFs and show how passive compliance can be exploited for a 6-DoF cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled robot. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e., no visual information is necessary in our approach. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on the 1-DoF analysis for the primary vertical axis together with control strategies for the secondary translations and rotations of the task. The scheme allows also the continuous tracking of a desired dribbling height and horizontal position. The approach is also used to hypothesize about human dribbling and is validated with captured data.
KW - Analytical models
KW - Elasticity
KW - Robots
KW - Springs
KW - Stability analysis
KW - Trajectory
KW - Cycle stability analysis
KW - disturbance observer
KW - elastic energy storage
KW - flexible joint manipulators
KW - limit cycles
KW - variable stiffness actuation
UR - http://www.scopus.com/inward/record.url?scp=85040953773&partnerID=8YFLogxK
U2 - 10.15488/3516
DO - 10.15488/3516
M3 - Article
VL - 34
SP - 91
EP - 112
JO - IEEE transactions on robotics
JF - IEEE transactions on robotics
SN - 1552-3098
IS - 1
M1 - 8263400
ER -