Compliant robotic systems on graphs

Stefan Groothuis, Stefano Stramigioli, Raffaella Carloni

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

    3 Citations (Scopus)

    Abstract

    In this paper, a modular method of modeling compliant robotic systems using graph theory is treated. Graph theoretic analyses ensure a structured way of describing a system and allow a straightforward extension to more complex systems. The graph models of a series elastic actuator, a variable stiffness actuator and a multi degrees of freedom compliant system are derived. These systems are controlled using an optimal control law that is able to find the optimal stiffness setting and distribution to accomplish a certain task. A case study shows a multi degrees of freedom compliant system which is required to resonate at the output and to accomplish a back-and-forth motion. It is shown that a constant optimal stiffness is found in the resonance simulation, and a varying optimal stiffness in case of the back-and-forth task. This indicates that this methodology can assist in finding an optimal stiffness distribution of complex robotic systems for a given task.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationLos Alamitos, CA, USA
    PublisherIEEE
    Pages3898-3903
    Number of pages6
    ISBN (Print)978-1-4799-6934-0
    DOIs
    Publication statusPublished - 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: 14 Sep 201418 Sep 2014
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

    Publication series

    Name
    PublisherIEEE

    Conference

    Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    Abbreviated titleIROS
    CountryUnited States
    CityChicago
    Period14/09/1418/09/14
    Internet address

    Keywords

    • METIS-309638
    • Compliant robotics systems
    • IR-92523
    • graph theory variable stiffness actuators
    • EWI-25257
    • CE-Advanced Robotics

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