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• W4285446018 abstract "We propose an impedance controller for articulated soft robots implemented by bidirectional antagonistic variable stiffness (BAVS) actuation, where two motors are connected via nonlinear elastic elements to a single link allowing for a joint stiffness modulation. Naturally, the highly elastic elements introduce undesired oscillatory dynamics into the plant. To address this problem, we present a controller that allows to impose a desired link-side stiffness and damping behavior while preserving the intrinsic inertial elastic properties of the system. This allows us to solve the global asymptotic regulation problem while simultaneously imposing a desired joint stiffness preset on the BAVS actuator. We provide a passivity and stability analysis based on a physically motivated storage and Lyapunov function. Experimental results on the underarm BAVS joint of DLR David validate our control law." @default.
• W4285446018 created "2022-07-15" @default.
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• W4285446018 date "2021-06-29" @default.
• W4285446018 modified "2023-09-27" @default.
• W4285446018 title "Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation" @default.
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• W4285446018 doi "https://doi.org/10.23919/ecc54610.2021.9655122" @default.
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