From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots Article Swipe
Manuel Keppler
,
Christian Ott
,
Alin Albu‐Schäffer
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.1002/rnc.6102
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.1002/rnc.6102
We establish a structure preserving state and input transformation that allows a class of underactuated Euler Lagrange systems to be treated as “quasi‐fully” actuated. In this equivalent quasi‐fully actuated form, the system is characterized by the same Lagrangian structure as the original one. This facilitates the design of control approaches that take into account the underlying physics of the system and that shape the system dynamics to a minimum extent. Due to smoothness constraints on the new input vector that acts directly on the noncollocated coordinates, we coin the term quasi‐fully actuated. The class of Euler–Lagrange systems we consider is the class of articulated soft robots with nonlinear spring characteristics that are modeled with a block diagonal inertia matrix. We illustrate how the quasi‐fully actuated form enables the direct transfer of control concepts that have been derived for fully actuated manipulators. We adopt the popular energy‐shaping and two passivity‐based concepts. The exemplary adoptions of the PD+ and Slotine and Li controllers allow us to solve the task‐space tracking problem for highly elastic joint robots with nonlinear spring characteristics. These control schemes allow compliant behavior of the robot's TCP to be specified with respect to a reference trajectory. A key aspect of the presented framework is that it enables the adoption of rigid joint controllers as well as concepts underlying the original stability analysis. We believe that our framework presents an important step toward unifying the control design for rigid and articulated soft robots.
Related Topics
Concepts
Underactuation
Control theory (sociology)
Sylvester's law of inertia
Robot
Passivity
Nonlinear system
Computer science
Generalized coordinates
Control engineering
Mathematics
Control (management)
Engineering
Artificial intelligence
Symmetric matrix
Physics
Mathematical analysis
Quantum mechanics
Eigenvalues and eigenvectors
Electrical engineering
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1002/rnc.6102
- https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.6102
- OA Status
- hybrid
- Cited By
- 13
- References
- 48
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4220840302
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4220840302Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1002/rnc.6102Digital Object Identifier
- Title
-
From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robotsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-03-17Full publication date if available
- Authors
-
Manuel Keppler, Christian Ott, Alin Albu‐SchäfferList of authors in order
- Landing page
-
https://doi.org/10.1002/rnc.6102Publisher landing page
- PDF URL
-
https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.6102Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
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hybridOpen access status per OpenAlex
- OA URL
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https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.6102Direct OA link when available
- Concepts
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Underactuation, Control theory (sociology), Sylvester's law of inertia, Robot, Passivity, Nonlinear system, Computer science, Generalized coordinates, Control engineering, Mathematics, Control (management), Engineering, Artificial intelligence, Symmetric matrix, Physics, Mathematical analysis, Quantum mechanics, Eigenvalues and eigenvectors, Electrical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
13Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 3, 2024: 5, 2023: 2, 2022: 3Per-year citation counts (last 5 years)
- References (count)
-
48Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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