Force Control

Villani, Luigi; Schutter, Joris De

doi:10.1007/978-3-319-32552-1_9

Cited by 75 publications

(53 citation statements)

References 56 publications

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“…The following impedance control is formulated in order to have comparative simulation results in order to show the superiority of the proposed approach. The control has the same structure as the ones presented in the work of Villani and De Schutter, theorem 9.16 and Augugliaro and D'Andrea ,. theorem 19…”

Section: Simulation Resultsmentioning

confidence: 99%

Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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Section: Simulation Resultsmentioning

confidence: 99%

Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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“…A suitable control strategy for implementing desired dynamics on industrial robots is the admittance control [39]. This strategy has been exploited in many different fields, see, e.g., [23] for a surgical application, [40] for a human-robot interaction scenario, and also [12] for robotic simulators for space applications.…”

Section: Problem Statementmentioning

confidence: 99%

A Passivity-Based Approach for Simulating Satellite Dynamics With Robots: Discrete-Time Integration and Time-Delay Compensation

2020

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This article proposes a passivity-based approach for simulating satellite dynamics on a position-controlled robot equipped with a force-torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade the behavior of the satellite dynamics reproduced by the robot. These factors can generate an energy-inconsistent simulation and can even render the system unstable. In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots. The benefit of the proposed strategy is validated by simulations and experiments on the On-Orbit Servicing Simulator (OOS-SIM), a robotic facility used for simulating free-floating dynamics.

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“…2(a,b)) and high impedance ( The aim of this paper is thus to plan the impedance of the robot online, without relying on direct force sensor measurements. Applying a task-space impedance control technique to a generic robotic system leads to a resulting behavior described by the model [15], [3]…”

Section: Problem Definitionmentioning

confidence: 99%

Online Optimal Impedance Planning for Legged Robots

Angelini

Xin

Wolfslag

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Real world applications require robots to operate in unstructured environments. This kind of scenarios may lead to unexpected environmental contacts or undesired interactions, which may harm people or impair the robot. Adjusting the behavior of the system through impedance control techniques is an effective solution to these problems. However, selecting an adequate impedance is not a straightforward process. Normally, robot users manually tune the controller gains with trial and error methods. This approach is generally slow and requires practice. Moreover, complex tasks may require different impedance during different phases of the task. This paper introduces an optimization algorithm for online planning of the Cartesian robot impedance to adapt to changes in the task, robot configuration, expected disturbances, external environment and desired performance, without employing any direct force measurements. We provide an analytical solution leveraging the mass-spring-damper behavior that is conferred to the robot body by the Cartesian impedance controller. Stability during gains variation is also guaranteed. The effectiveness of the method is experimentally validated on the quadrupedal robot ANYmal. The variable impedance helps the robot to tackle challenging scenarios like walking on rough terrain and colliding with an obstacle.

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Force Control

Cited by 75 publications

References 56 publications

Two PVTOLs cooperative slung‐load transport control based on passivity

Two PVTOLs cooperative slung‐load transport control based on passivity

A Passivity-Based Approach for Simulating Satellite Dynamics With Robots: Discrete-Time Integration and Time-Delay Compensation

Online Optimal Impedance Planning for Legged Robots

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