Energy-aware adaptive impedance control using offline task-based optimization

Bart Gerlagh; Federico Califano; Stefano Stramigioli; Wesley Roozing

doi:10.1109/ICAR53236.2021.9659443

Energy-aware adaptive impedance control using offline task-based optimization

Bart Gerlagh, Federico Califano, Stefano Stramigioli, Wesley Roozing

Robotics and Mechatronics

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

5 Citations (Scopus)

Abstract

Robotic tasks involving interaction with an environment are commonly addressed by means of impedance control. Under the framework of energy-aware robotics, and motivated by evidence that many tasks benefit from variable impedance, we leverage a geometric formulation of an impedance controlled manipulator with time-varying impedance, to design an optimisation problem able to produce an open-loop, task-based control action. A feedback controller accounts for model variations and disturbances from the nominal task and completes the control strategy. Beyond achieving passivity by means of energy tanks, a novel energy budgeting protocol ensures safety along task execution. Simulations on a 5-DoF robot executing a peg-in-hole task validate the approach.

Original language	English
Title of host publication	2021 20th International Conference on Advanced Robotics, ICAR 2021
Publisher	IEEE
Pages	187-194
Number of pages	8
ISBN (Electronic)	978-1-6654-3684-7, 978-1-6654-3683-0
ISBN (Print)	9781665436847
DOIs	https://doi.org/10.1109/ICAR53236.2021.9659443
Publication status	Published - 5 Jan 2022
Event	20th International Conference on Advanced Robotics, ICAR 2021 - Cankarjev dom, Ljubljana, Slovenia Duration: 6 Dec 2021 → 10 Dec 2021 Conference number: 20

Conference

Conference	20th International Conference on Advanced Robotics, ICAR 2021
Abbreviated title	ICAR 2021
Country/Territory	Slovenia
City	Ljubljana
Period	6/12/21 → 10/12/21

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10.1109/ICAR53236.2021.9659443

Cite this

@inproceedings{67fe6ff6d36a4232a2f740c1f08382dc,

title = "Energy-aware adaptive impedance control using offline task-based optimization",

abstract = "Robotic tasks involving interaction with an environment are commonly addressed by means of impedance control. Under the framework of energy-aware robotics, and motivated by evidence that many tasks benefit from variable impedance, we leverage a geometric formulation of an impedance controlled manipulator with time-varying impedance, to design an optimisation problem able to produce an open-loop, task-based control action. A feedback controller accounts for model variations and disturbances from the nominal task and completes the control strategy. Beyond achieving passivity by means of energy tanks, a novel energy budgeting protocol ensures safety along task execution. Simulations on a 5-DoF robot executing a peg-in-hole task validate the approach. ",

author = "Bart Gerlagh and Federico Califano and Stefano Stramigioli and Wesley Roozing",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 20th International Conference on Advanced Robotics, ICAR 2021, ICAR 2021 ; Conference date: 06-12-2021 Through 10-12-2021",

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doi = "10.1109/ICAR53236.2021.9659443",

language = "English",

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T1 - Energy-aware adaptive impedance control using offline task-based optimization

AU - Gerlagh, Bart

AU - Califano, Federico

AU - Stramigioli, Stefano

AU - Roozing, Wesley

N1 - Conference code: 20

PY - 2022/1/5

Y1 - 2022/1/5

N2 - Robotic tasks involving interaction with an environment are commonly addressed by means of impedance control. Under the framework of energy-aware robotics, and motivated by evidence that many tasks benefit from variable impedance, we leverage a geometric formulation of an impedance controlled manipulator with time-varying impedance, to design an optimisation problem able to produce an open-loop, task-based control action. A feedback controller accounts for model variations and disturbances from the nominal task and completes the control strategy. Beyond achieving passivity by means of energy tanks, a novel energy budgeting protocol ensures safety along task execution. Simulations on a 5-DoF robot executing a peg-in-hole task validate the approach.

AB - Robotic tasks involving interaction with an environment are commonly addressed by means of impedance control. Under the framework of energy-aware robotics, and motivated by evidence that many tasks benefit from variable impedance, we leverage a geometric formulation of an impedance controlled manipulator with time-varying impedance, to design an optimisation problem able to produce an open-loop, task-based control action. A feedback controller accounts for model variations and disturbances from the nominal task and completes the control strategy. Beyond achieving passivity by means of energy tanks, a novel energy budgeting protocol ensures safety along task execution. Simulations on a 5-DoF robot executing a peg-in-hole task validate the approach.

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DO - 10.1109/ICAR53236.2021.9659443

M3 - Conference contribution

AN - SCOPUS:85124689731

SN - 9781665436847

SP - 187

EP - 194

BT - 2021 20th International Conference on Advanced Robotics, ICAR 2021

PB - IEEE

T2 - 20th International Conference on Advanced Robotics, ICAR 2021

Y2 - 6 December 2021 through 10 December 2021

ER -

Energy-aware adaptive impedance control using offline task-based optimization

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