Control of a variable stiffness joint for catching a moving object

Ajinkya A. Bhole; Julian Kumle; Stefan S. Groothuis; Raffaella Carloni

doi:10.1109/IROS.2017.8206350

Control of a variable stiffness joint for catching a moving object

Ajinkya A. Bhole, Julian Kumle, Stefan S. Groothuis, Raffaella Carloni

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

2 Citations (Scopus)

200 Downloads (Pure)

Abstract

The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.

Original language	English
Title of host publication	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	4756-4761
Number of pages	6
Volume	2017-September
ISBN (Electronic)	9781538626825
DOIs	https://doi.org/10.1109/IROS.2017.8206350
Publication status	Published - 13 Dec 2017
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: Friendly People, Friendly Robots - Vancouver, Canada Duration: 24 Sep 2017 → 28 Sep 2017 http://iros2017.org/ https://www.iros2017.org/

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Abbreviated title	IROS 2017
Country/Territory	Canada
City	Vancouver
Period	24/09/17 → 28/09/17
Internet address	http://iros2017.org/ https://www.iros2017.org/

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10.1109/IROS.2017.8206350

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Cite this

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title = "Control of a variable stiffness joint for catching a moving object",

abstract = "The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.",

author = "Bhole, {Ajinkya A.} and Julian Kumle and Groothuis, {Stefan S.} and Raffaella Carloni",

year = "2017",

month = dec,

day = "13",

doi = "10.1109/IROS.2017.8206350",

language = "English",

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pages = "4756--4761",

booktitle = "2017 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 : Friendly People, Friendly Robots, IROS 2017 ; Conference date: 24-09-2017 Through 28-09-2017",

url = "http://iros2017.org/, https://www.iros2017.org/",

}

Bhole, AA, Kumle, J, Groothuis, SS & Carloni, R 2017, Control of a variable stiffness joint for catching a moving object. in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8206350, IEEE, pp. 4756-4761, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, British Columbia, Canada, 24/09/17. https://doi.org/10.1109/IROS.2017.8206350

Control of a variable stiffness joint for catching a moving object. / Bhole, Ajinkya A.; Kumle, Julian; Groothuis, Stefan S. et al.

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September IEEE, 2017. p. 4756-4761 8206350.

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

TY - GEN

T1 - Control of a variable stiffness joint for catching a moving object

AU - Bhole, Ajinkya A.

AU - Kumle, Julian

AU - Groothuis, Stefan S.

AU - Carloni, Raffaella

PY - 2017/12/13

Y1 - 2017/12/13

N2 - The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.

AB - The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.

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U2 - 10.1109/IROS.2017.8206350

DO - 10.1109/IROS.2017.8206350

M3 - Conference contribution

AN - SCOPUS:85041950237

VL - 2017-September

SP - 4756

EP - 4761

BT - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

Y2 - 24 September 2017 through 28 September 2017

ER -

Control of a variable stiffness joint for catching a moving object

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