A5068938836- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Robotic Locomotion and Control
- Dynamics and Control of Mechanical Systems
- Muscle activation and electromyography studies
- Hydraulic and Pneumatic Systems
- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Advanced Vision and Imaging
- Manufacturing Process and Optimization
- Control and Dynamics of Mobile Robots
- Image Processing Techniques and Applications
- Optical measurement and interference techniques
- Motor Control and Adaptation
- Control and Stability of Dynamical Systems
- Vehicle Dynamics and Control Systems
- Advanced Control Systems Optimization
- Tactile and Sensory Interactions
- Mechanical Circulatory Support Devices
- Iterative Learning Control Systems
- Real-time simulation and control systems
- Structural Health Monitoring Techniques
- Mechanical stress and fatigue analysis
Italian Institute of Technology
2015-2023
TU Dortmund University
2009-2016
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
Despite the development of a large number mobile manipulation robots, very few platforms can demonstrate required strength and mechanical sturdiness to accommodate needs real-world applications with high payload moderate/harsh physical interaction demands, e.g., in disaster-response scenarios or heavy logistics/collaborative tasks. In this letter, we introduce design wheeled-legged platform capable executing demanding tasks, demonstrating significant resilience while possessing body size...
Joint torque sensing represents one of the foundations and vital components modern robotic systems that target to match closely physical interaction performance biological through realization controlled actuators. However, despite decades studies on development different sensors, design accurate reliable sensors still remains challenging for majority robotics community preventing use technology. This letter proposes evaluates two joint elements based strain gauge deflection-encoder...
The application of humanoids in real world environments necessarily requires robots that can demonstrate physical resilience against strong interactions with the environment and impacts, may occur during falling incidents, are unavoidable. This paper introduces a modular high performance actuation unit designed to be robust impacts perturbations. protection is achieved use elastic transmission combined soft cover elements on link side. introduce details actuator design implementation discuss...
Developing a high physical performance robotic manipulation platform with considerable power density, strength and resilience is not trivial task frequently leads to heavy bulky systems unable meet the application requirements, i.e. such robots should have human body size compatibility work in infrastructures designed for humans. In this we present new weight compatible bi-manual that demonstrates notable capabilities. To attain performance, design features including custom elastic drives...
Series-elastic actuators are quickly becoming the core component of robots operating in real-world environments, allowing for robust, safe, torque-controlled robots. This letter investigates influence selected stiffness and control parameters. By consolidating several analyses, it is shown two opposing criteria exist choice stiffness: lowering increases actuator transparency, while increasing torque tracking bandwidth. fact used context impedance rendering to propose an optimal selection...
In this paper, we present a novel global tracking control approach for elastic-joint robots that can be efficiently computed and is robust against model uncertainties input disturbances. Elastic-joint provide enhanced safety resiliency interaction with the environment humans. On other hand, joint elasticity complicates motion-control problem especially when precise trajectory required. Our proposed allows us to merge main benefits of two well-known schemes: inverse-dynamics (ID) control,...
The ongoing trend from mass-produced to mass-customized products with batch sizes as small a single unit has highlighted the need for highly adaptable robotic systems lower downtime maintenance. To address these demands, this article proposes development of novel reconfigurable collaborative robot (cobot), which potential open up many new scenarios within rapidly emerging flexible manufacturing environments. As technological contribution, we present complete hard- and software architecture...
This contribution compares two approaches for applying disturbance observers (DOBs) to the torque control problem of series elastic actuators (SEAs). It is demonstrated that they are in fact equivalent linear models terms their ability reject disturbances and enforce nominal model dynamics. The closed loop error transfer functions DOB-based compared a fully plant nonlinear without DOB. Simulations demonstrate DOBs able increase bandwidth significantly, up plant. Furthermore, significantly...
Novel robotic applications, such as service robots, support the interaction between a human and robot within same workspace. These types of cooperative tasks require safe operation in order to avoid physical harm operator. In case contact inherent safety is accomplished by means lightweight flexible structures reduced mass stiffness that absorb forces. The structure induces vibrations arm during motion, which complicates precise kinematic control end effector pose. This contribution proposes...
The infinite dimensionality, varying, uncertainties or even unknown boundary conditions render the derivation and - in particular identification of accurate dynamics models for elastic link robots tedious error prone. This contribution circumvents these challenges by prior application a model-free inner loop oscillation damping controller before modelling robot's dynamics. Then, damped multi robot arm under gravity can be modelled with high accuracy. An analytical data-driven model are...
This paper proposes a novel independent joint control concept on 3 DOF flexible link robot subject to deflections caused by gravity. The scheme dampens induced oscillations in the presence of configuration dependant plant frequency and damping variations integrating strain feedback impulse based input shaping. approach is robust does not depend dynamic model at runtime. efficiency evaluated experimentally terms measurement as well end-effector position across entire workspace.
The paper proposes a method to assess the feasible torque bandwidth for electrically driven controllable actuators over its entire amplitude range. solely relies on knowledge of hardware parameters and thereby determines physically control at given amplitude, independent controller. yields torque-frequency diagrams that are suitable benchmark controllers, formulate actuator design specifications compare as well select specific application. exemplifies WALK-MAN leg with locked output more...
Flexible, lightweight manipulators offer some advantages in contrast to rigid arms, such as compact and lighter drives, energy efficiency, reduced masses costs. This paper presents a novel approach for vibration damping of multi-link flexible arm. The strain the elastic arms is measured with Fiber-Bragg-Grating (FBG) sensors provides feedback signal dampen their flexural dynamics. A dynamic model three link arm derived that accounts dynamics including gravity. vibrations are damped by...
Reducing weight and inertias of conventional robot arms with an elastic structure allows safer interactive cooperation between humans robots. While the end effector pose a rigid is determined by forward kinematic chain, results from superposition kinematics dependent deflection caused gravity. This property complicates computation inverse in particular case dynamic loads. paper presents machine learning approach to extract various nonlinear regression models three degrees freedom (DOF)...
Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs robotic arms and comparable machinery. In contrast this notion, paper demonstrates novel approach exploit intrinsic robot link compliance in order estimate priori unknown payload masses, measure also control end effector forces. way, the can seen as an enabler for new sensing capabilities instead purely effect.
We consider the global tracking control problem of robots with elastic joints. Even if joint elasticity introduces beneficial features for modern applications which require physically resilient and safer that can interact environment or humans, it challenges achievable performance. propose a novel controller combines benefits two approaches: intrinsic robustness to model uncertainty from passivity-based implementation efficiency inverse-dynamics schemes using recursive algorithm. The is...