Print Email Facebook Twitter Efficient and Goal-Directed Oscillations in Articulated Soft Robots Title Efficient and Goal-Directed Oscillations in Articulated Soft Robots: the Point-to-Point Case Author Bonacchi, Luigi Bono (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Roa, Maximo A. (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Sesselmann, Anna (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Loeffl, Florian (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Albu-Schaffer, Alin (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) Della Santina, C. (TU Delft Learning & Autonomous Control) Date 2021 Abstract Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by proposing a control architecture for executing goal-oriented and efficient point-to-point periodic motions. This is achieved by (i) producing motor torques that excite intrinsic modal oscillations, and simultaneously (ii) adjusting parallel elasticity so to shape the natural modes. Analytical proofs of convergence are provided for the linear approximation. The performance and efficiency (in the sense of low energy expenditure) of the method in the nonlinear case are assessed with extensive simulations and experiments. Subject Compliant Joints and MechanismsDampingMathematical modelMotion ControlNatural Machine MotionOscillatorsRobot kinematicsRobotsSoft roboticsTask analysis To reference this document use: http://resolver.tudelft.nl/uuid:2a0354e2-d619-4d45-9a55-b3bcc2969864 DOI https://doi.org/10.1109/LRA.2021.3061345 Embargo date 2021-08-23 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 6 (2), 2555-2562 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2021 Luigi Bono Bonacchi, Maximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schaffer, C. Della Santina Files PDF 09361340.pdf 3.21 MB Close viewer /islandora/object/uuid:2a0354e2-d619-4d45-9a55-b3bcc2969864/datastream/OBJ/view