Akhond, S., Herzig, N. orcid.org/0000-0002-5845-2697, Wegiriya, H. et al. (1 more author) (2019) A method to guide local physical adaptations in a robot based on phase portraits. IEEE Access, 7. pp. 78830-78841.
Abstract
In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 The Authors. This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/ |
Keywords: | Computer numerical control; embodied control; robotics and automation; robot motion |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 13 Nov 2019 09:40 |
Last Modified: | 13 Nov 2019 09:40 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/access.2019.2923144 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:152001 |