Exploiting Elastic Energy Storage for ''Blind'' Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling

verfasst von

S. Haddadin, K. Krieger, A. Albu-Schäffer, T. Lilge

Abstract

For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects of elastic energy storage and release for basketball dribbling in terms of open-loop cycle stability. We base the analysis, which is performed for the 1-degree-of-freedom (DoF) case, on error propagation, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. To back up our basic insights, we extend the 1-DoF controller to 6-DoFs and show how passive compliance can be exploited for a 6-DoF cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled robot. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e., no visual information is necessary in our approach. We show via simulation and experiment that it is possible to achieve a stable dynamic cycle based on the 1-DoF analysis for the primary vertical axis together with control strategies for the secondary translations and rotations of the task. The scheme allows also the continuous tracking of a desired dribbling height and horizontal position. The approach is also used to hypothesize about human dribbling and is validated with captured data.

Organisationseinheit(en)

Institut für Regelungstechnik

Externe Organisation(en)

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Fertig Motors

Typ

Artikel

Journal

IEEE transactions on robotics

Band

34

Seiten

91-112

Anzahl der Seiten

22

ISSN

1552-3098

Publikationsdatum

02.2018

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Elektrotechnik und Elektronik, Steuerungs- und Systemtechnik, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.15488/3516 (Zugang: Offen)
https://doi.org/10.1109/TRO.2017.2765684 (Zugang: Geschlossen)