Compliant robotic systems on graphs

Stefan Groothuis; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/IROS.2014.6943110

Compliant robotic systems on graphs

Stefan Groothuis, Stefano Stramigioli, Raffaella Carloni

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

3 Citations (Scopus)

3 Downloads (Pure)

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 language	Undefined
Title of host publication	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Los Alamitos, CA, USA
Publisher	IEEE
Pages	3898-3903
Number of pages	6
ISBN (Print)	978-1-4799-6934-0
DOIs	https://doi.org/10.1109/IROS.2014.6943110
Publication status	Published - 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

Publication series

Name
Publisher	IEEE

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Abbreviated title	IROS
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

Keywords

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

Access to Document

10.1109/IROS.2014.6943110

http://eprints.eemcs.utwente.nl/secure2/25257/01/06943110.pdf

Cite this

@inproceedings{f73a6d7df8a6473c8ef265e167ac3010,

title = "Compliant robotic systems on graphs",

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.",

keywords = "METIS-309638, Compliant robotics systems, IR-92523, graph theory variable stiffness actuators, EWI-25257, CE-Advanced Robotics",

author = "Stefan Groothuis and Stefano Stramigioli and Raffaella Carloni",

note = "10.1109/IROS.2014.6943110 ; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

doi = "10.1109/IROS.2014.6943110",

language = "Undefined",

isbn = "978-1-4799-6934-0",

publisher = "IEEE",

pages = "3898--3903",

booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "United States",

url = "http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html",

}

Groothuis, S, Stramigioli, S & Carloni, R 2014, Compliant robotic systems on graphs. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Los Alamitos, CA, USA, pp. 3898-3903, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, Illinois, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943110

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T1 - Compliant robotic systems on graphs

AU - Groothuis, Stefan

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

N1 - 10.1109/IROS.2014.6943110

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

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KW - graph theory variable stiffness actuators

KW - EWI-25257

KW - CE-Advanced Robotics

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BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems

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