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Minimum Gain Requirements for Trajectory Tracking of Compliant Robots in Divergent Force Fields

Published: 02 November 2023 Publication History

Abstract

The future of robotics involves a growing need for robots to perform everyday tasks in dynamic and unstructured environments. This often requires them to handle complex and unstable interactions with various objects, including mechanical tools, flexible objects such as food items and fruits, and more. Robots must be able to interact with their environment like humans, who rely on the compliance of their musculoskeletal system to achieve safe and effective interaction. Previous research has analyzed the benefits of incorporating mechanical compliance in parallel and series configurations to address this requirement. In this work, we introduce a novel approach to parallel compliance, where the mean position is adjusted based on desired trajectories and study its advantages. The unstable interactions are modeled as a position-based divergent force field. A generalized theory is presented that determines the minimum gains required for trajectory tracking in all types of compliance configurations in the presence of divergent force fields. The results are demonstrated through simulations of 1-DOF and 2-DOF robots and provides insight into the associated control effort.

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AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics
July 2023
583 pages
ISBN:9781450399807
DOI:10.1145/3610419
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 November 2023

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Author Tags

  1. Compliant Robots
  2. Stability in Force-Field

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  • Research-article
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  • Refereed limited

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  • PRIME MINISTER'S RESEARCH FELLOWSHIP

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AIR 2023

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Overall Acceptance Rate 69 of 140 submissions, 49%

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