Online Impedance Adaptation Facilitates Manipulating a Whip

Xiaofeng Xiong, Moses C. Nah, Aleksei Krotov, Dagmar Sternad

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Abstract

Manipulation of flexible objects is one of the major challenges in robotics as the nonlinear dynamics of the high-dimensional object structure makes it difficult to apply current control methods. A previous simulation study showed that control with few pre-structured joint trajectories coupled with joint impedance (dynamic primitives) could control a 25-dimensional whip to hit a target. This was possible even though the impedance values were constant. This paper explores whether time-varying impedance throughout the movement may further enhance performance. We present an online impedance adaptation (OIA) controller that modulates the joint impedances of a two-joint actuator in real time for the same task. Results showed that the OIA control method increased the speed of optimization and resulted in smaller deviation from the zero-torque joint trajectories compared to the controller with constant joint impedances. This novel way to modulate both motion and impedance of a manipulator may facilitate the control of flexible objects with significant dynamics.
Original languageEnglish
Title of host publication2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication date2021
Pages9297-9302
ISBN (Electronic)978-1-6654-1714-3
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online, Prague, Czech Republic
Duration: 27. Sept 20211. Oct 2021
Conference number: 34
https://www.iros2021.org/

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number34
LocationOnline
Country/TerritoryCzech Republic
CityPrague
Period27/09/202101/10/2021
Internet address
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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