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Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots

Ziad Zamzami, Faïz Ben Amar
2016 Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics  
Swing-up and throwing tasks for underactuated manipulators are examples of dynamic motions that exhibit highly nonlinear coupling dynamics.  ...  We introduce the Dynamical Coupling Map (DCM), a novel graphical technique, to help gain insight into the output trajectory of the optimization and analyze the capability of underactuated robots.  ...  as q a = −M † pa M pqp − M † pa N p (15) Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots By substituting (15) in (13) , we can find a relation between the acceleration of  ... 
doi:10.5220/0006012405480557 dblp:conf/icinco/ZamzamiA16 fatcat:w7vjjbeiwvgkjn45eqqvm4qenm

A dynamic coupling index for underactuated manipulators

Marcel Bergerman, Christopher Lee, Yangsheng Xu
1995 Journal of Robotic Systems  
We discuss extensively the nature of the dynamic coupling and of the proposed coupling index, and their applications in the analysis and design of underactuated systems, through a detailed mathematical  ...  In this work, the authors aim to develop an index to measure the dynamic coupling, so as to address when control of the underactuated system is possible, and how the motion and robot configuration can  ...  This is specially important in these systems because the Jacobian mapping from Cartesian to joint space depends on the dynamic parameters, once again differently from conventional robots, where the Jacobian  ... 
doi:10.1002/rob.4620121006 fatcat:qiwltixmnbd2fhh7bluga4hiiq

Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics [article]

Ziyi Zhou, Ye Zhao
2020 arXiv   pre-print
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems.  ...  Furthermore, we propose a Stage-wise Accelerated ADMM with over-relaxation and varying-penalty schemes to improve the overall convergence rate.  ...  ACKNOWLEDGEMENT The authors would like to express our special thanks to Rohan Budhiraja for his feedback and discussions at an early stage of this research.  ... 
arXiv:2003.08019v1 fatcat:rb72dtdvwrhmle34k4564ix45m

Motion dynamics of inertial pair coupled via frictional interface [article]

Michael Ruderman, Andrei Zagvozdkin, Dmitrii Rachinskii
2022 arXiv   pre-print
Understanding the motion dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of system and control applications.  ...  We formulate the dynamics of motion as a closed form ordinary differential equation containing the sign operator for mapping both the Coulomb friction and the switching conditions, and discuss the validity  ...  We formulate the dynamics of motion as a closed form ordinary differential equation containing the sign operator for mapping both the Coulomb friction and the switching conditions, and discuss the validity  ... 
arXiv:2202.13913v2 fatcat:kfanpi6ygbbvrferpk6cvjc5vi

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

Fabian Bauer, Ulrich Römer, Alexander Fidlin, Wolfgang Seemann
2016 Multibody system dynamics  
It is modeled as underactuated system to make use of its natural dynamics and feedback controlled via input-output linearization.  ...  A design proposal for this elastic coupling -which does not affect the robot's trunk and parallel shank motion and can be used to enhance an existing robot -is given for planar as well as spatial robots  ...  The analysis of the multibody system can thus be reduced to the analysis of the hybrid zero dynamics 3 . 12 Fabian Bauer et al.  ... 
doi:10.1007/s11044-016-9509-8 fatcat:wltkjm4zczbsnmeqccowyc5p2e

Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs

Fabian Bauer, Ulrich Römer, Alexander Fidlin, Wolfgang Seemann
2015 Nonlinear dynamics  
The process of energy turnover is investigated for the robot with and without elastic couplings.  ...  It is modeled as underactuated system to make use of its natural dynamics and feedback controlled with input-output linearization.  ...  The analysis of the multibody system can thus be reduced to the analysis of the hybrid zero dynamics 2 .  ... 
doi:10.1007/s11071-015-2402-9 fatcat:7zjqxolig5bjliu6zygqaz7lrq

Reachability Map for Diverse Balancing Strategies and Energy Efficient Stepping of Humanoids [article]

Christopher McGreavy, Zhibin Li
2021 arXiv   pre-print
We developed a 2-phase nonlinear optimization pipeline for dynamic stepping, which generates reachability maps showing complex energy-stepping relations.  ...  This work studies the robot dynamics and whole-body optimal control as a coupled system to investigate energy consumption during balance recovery.  ...  For high-DoF robots, this hardware and software coupling makes studying energy consumption for general locomotion extremely complex and computationally heavy, given the high dimensionality of the state-action  ... 
arXiv:2105.00995v1 fatcat:p366nqijybajzagkb2c6s3dybu

Motion Planning and Trajectory Tracking of Underactuated Three-link Robots

Qingbo LIU, Yueqing YU, Zihong XU, Liying SU, Shanzeng LIU
2008 IFAC Proceedings Volumes  
The dynamic model of this kind of underactuated robot system is built based on Lagrange method. Different objective functions are given for motion planning and trajectory tracking.  ...  A new method for motion planning and trajectory tracking of underactuated three-link planar robots with a passive rotational third joint is proposed.  ...  An oscillatory stabilizing feedback is designed by Nakamura (Nakamura Y, 1997) for rest-to-rest motion task, based on a Poincaré map analysis.  ... 
doi:10.3182/20080706-5-kr-1001.00378 fatcat:yzn3kyrj4fdtbma4uyjqwq572a

Stability case study of the ACROBOTER underactuated service robot

László L. Kovács, László Bencsik
2012 Theoretical and Applied Mechanics Letters  
The stability analysis of the digitally controlled underactuated service robot is provided as a real parameter case study for selecting the optimal control gains.  ...  On the other hand, the control design of underactuated robots usually relies on partial feedback linearization based techniques which are exclusively developed for systems modeled by independent coordinates  ...  This paper was presented at the 11th Conference on Dynamical Systems-Theory and Applications, December 5-8, 2011, Lodz, Poland.  ... 
doi:10.1063/2.1204304 fatcat:fnqfwvztinbc5nf7k5vufyle7i

Automatic Centralized Control of Underactuated Large-scale Multi-robot Systems using a Generalized Coordinate Transformation [article]

Babak Salamat, Christopher Johannes Starck, Heiko Hamann
2021 arXiv   pre-print
Previous works are often restricted to the assumption of fully actuated robots. Here we propose an approach for underactuated robots that allows for energy-efficient control of the robot system.  ...  First, we present a generalized coordinate transformation for underactuated robots, whose physical properties should be considered.  ...  G u (q) and G a (q) are the underactuated and actuated components of G(q) , respectively. The EL dynamics (1) is coupled when G u (q) ≡ 0.  ... 
arXiv:2108.10153v2 fatcat:4nqyjlvsabbldbz2x7xnge74fa

Momentum-Mapped Inverted Pendulum Models for Controlling Dynamic Human Motions

Taesoo Kwon, Jessica K. Hodgins
2017 ACM Transactions on Graphics  
Designing a unified framework for simulating a broad variety of human behaviors has proven to be challenging.  ...  By tracking this time-varying trajectory, the controller creates a character that dynamically balances, changes speed, makes turns, jumps, and performs gymnastic maneuvers.  ...  ACKNOWLEDGMENTS We thank Junggon Kim for providing his dynamics simulator, Spencer Diaz and Moshe Mahler for character modeling and video editing, and Justin Macey for motion capture sessions.  ... 
doi:10.1145/2983616 fatcat:ofahb6ibnfbnbojfjdxmrc5jdq

Dynamic coupling of underactuated manipulators

M. Bergerman, C. Lee, Yangsheng Xu
Proceedings of International Conference on Control Applications  
We discuss extensively the nature of the dynamic coupling and of the proposed coupling index, and their applications in the analysis and design of underactuated systems, and in control and planning of  ...  In this work, the authors aim to develop an index to measure the dynamic coupling, so as to address when control of the underactuated system is possible, and how the motion and robot configuration can  ...  The first author is supported by a grant from the Brazilian National Council for Research and Development (CNPq).  ... 
doi:10.1109/cca.1995.555771 fatcat:rus5wx5h7ndhnaobqsb2vqhcwy

Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems [article]

Anastasios Tsolakis, Tamas Keviczky
2021 arXiv   pre-print
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands.  ...  This enables the cooperative control of heterogeneous, underactuated and nonholonomic systems with a unified control law.  ...  These constraints introduce a coupling among the system's generalized velocities complicating the analysis.  ... 
arXiv:2106.13338v1 fatcat:ohp3p2bb3ngyvhecufrnnyaq7a

Ball dribbling with an underactuated continuous-time control phase

Uwe Mettin, Anton S Shiriaev, Georg Bätz, Dirk Wollherr
2010 2010 IEEE International Conference on Robotics and Automation  
One main challenge for realizing basketball robots is to stabilize periodic motions of the ball. This task is nontrivial due to the discrete-continuous nature of the corresponding dynamics.  ...  Hence, we can have continuous-time control over this underactuated Ball-Spring-Manipulator system until the spring releases its accumulated energy back to the ball.  ...  From the system analysis perspective it makes sense to consider the ball-dribbling cycle only for the controlled phase involving the dynamics of the underactuated Ball-Spring-Manipulator system (2) .  ... 
doi:10.1109/robot.2010.5509901 dblp:conf/icra/MettinSBW10 fatcat:2bbbqxfi5zdovfohj6lzjzfihu

On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model

Pengcheng Liu, Hongnian Yu, Shuang Cang
2015 2015 21st International Conference on Automation and Computing (ICAC)  
As a mechanical system with underactuation degree one, the proposed system has strongly coupled nonlinearities and can be utilized as a potential benchmark for studying complicated PD systems.  ...  By mathematical modeling and non-dimensionalization of the physical system, an insight is obtained to the global system dynamics.  ...  However, challenges are still remained in trajectory planning and controller design for the UMSs in the presence of strong coupled nonlinear dynamics, i.e., how to govern the dynamics for the underactuated  ... 
doi:10.1109/iconac.2015.7313936 dblp:conf/iconac/LiuYC15 fatcat:pkyghdt3xbhbrpry7cbjx4cjjq
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