Compliant manipulators on graphs

Stefan Groothuis, Stefano Stramigioli, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)

    Abstract

    This paper proposes a modeling method for generic serial-chain compliant robotic manipulators. It is based on graph theory and port-Hamiltonian systems, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity allows a very simple and straight-forward change in a manipulator's actuator morphology. An example of a two degree of freedom planar manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than traditional Euler-Lagrange models.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages6536-6542
    Number of pages7
    ISBN (Print)978-1-4799-9994-1
    DOIs
    Publication statusPublished - 2015
    Event2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
    Duration: 28 Sep 20152 Oct 2015
    https://iros2015.informatik.uni-hamburg.de/

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    Abbreviated titleIROS
    CountryGermany
    CityHamburg
    Period28/09/152/10/15
    Internet address

    Keywords

    • EWI-26690
    • Modeling
    • Graph Theory
    • IR-99027
    • compliant systems
    • METIS-315159
    • Robotics

    Cite this

    Groothuis, S., Stramigioli, S., & Carloni, R. (2015). Compliant manipulators on graphs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 6536-6542). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2015.7354311