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• W2902819186 abstract "Abstract Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden, and as a result, larger controller latencies. To maximize robustness to mechanical disturbances and achieve high control performance, we emphasize the necessity for executing damping feedback in close proximity to the control plant while allocating stiffness feedback in a latency-prone centralized control process. Additionally, series elastic actuators (SEAs) are becoming prevalent in torque-controlled robots during recent years to achieve compliant interactions with environments and humans. However, designing optimal impedance controllers and characterizing impedance performance for SEAs with time delays and filtering are still under-explored problems. The presented study addresses the optimal controller design problem by devising a critically damped gain design method for a class of SEA cascaded control architectures, which is composed of outer-impedance and innertorque feedback loops. Via the proposed controller design criterion, we adopt frequency-domain methods to thoroughly analyze the effects of time delays, filtering, and load inertia on SEA impedance performance. These results are further validated through the analysis, simulation, and experimental testing on high-performance actuators and on an omnidirectional mobile base." @default.
• W2902819186 created "2018-12-11" @default.
• W2902819186 creator A5023643969 @default.
• W2902819186 creator A5079374033 @default.
• W2902819186 date "2019-01-01" @default.
• W2902819186 modified "2023-09-27" @default.
• W2902819186 title "Distributed impedance control of latency-prone robotic systems with series elastic actuation" @default.
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• W2902819186 doi "https://doi.org/10.1016/b978-0-12-814928-7.00002-0" @default.
• W2902819186 hasPublicationYear "2019" @default.
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