dc.identifier.uri |
http://dx.doi.org/10.15488/3416 |
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dc.identifier.uri |
http://www.repo.uni-hannover.de/handle/123456789/3446 |
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dc.contributor.author |
Tödtheide, Alexander
|
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dc.contributor.author |
Lilge, Torsten
|
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dc.contributor.author |
Haddadin, Sami
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dc.date.accessioned |
2018-05-31T08:15:20Z |
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dc.date.available |
2018-05-31T08:15:20Z |
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dc.date.issued |
2015-12-23 |
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dc.identifier.citation |
Toedtheide, A.; Lilge, T.; Haddadin, S.: Antagonistic Impedance Control for Pneumatically Actuated Robot Joints. In: IEEE Robotics and Automation Letters 1 (2016), Nr. 1, S. 161-168. DOI: http://dx.doi.org/10.1109/LRA.2015.2511663 |
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dc.description.abstract |
This paper presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor setups to pneumatic systems, with the goal of achieving similar performance levels in comparison to this well established technology. A detailed flexible joint model is derived that incorporates the pneumatic and mechanical dynamics of the proposed antagonistic design. This model is used for analyzing model-based control approaches, which in turn are based on reduced order dynamics. The tendon-based joint level impedance controller enables the simultaneous adjustment of closed-loop stiffness and damping. The proposed scheme shows good simulation results for both, position tracking and compliance performance, respectively. Experimentally, an angular position tracking of 7 Hz could be achieved. Also, stable rigid contacts could be established at considerable impact speed. |
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dc.description.sponsorship |
EU/H2020/688857/EU |
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dc.language.iso |
eng |
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dc.publisher |
Piscataway, NJ : Institute of Electrical and Electronics Engineers |
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dc.relation |
info:eu-repo/grantAgreement/EU/H2020/688857/EU |
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dc.relation.ispartofseries |
IEEE Robotics and Automation Letters 1 (2016), Nr. 1 |
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dc.rights |
Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. |
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dc.subject |
Impedance Control |
eng |
dc.subject |
Compliance |
eng |
dc.subject |
Tendon Dirven Joints |
eng |
dc.subject |
Impedanzregelung |
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dc.subject |
Pneumatische Antriebe |
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dc.subject.ddc |
620 | Ingenieurwissenschaften und Maschinenbau
|
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dc.title |
Antagonistic Impedance Control for Pneumatically Actuated Robot Joints |
eng |
dc.type |
Article |
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dc.type |
Text |
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dc.relation.issn |
2377-3766 |
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dc.relation.doi |
10.1109/LRA.2015.2511663 |
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dc.bibliographicCitation.firstPage |
161 |
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dc.bibliographicCitation.lastPage |
168 |
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dc.description.version |
acceptedVersion |
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tib.accessRights |
frei zug�nglich |
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