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Energy-Efficient Design and Control of a Vibro-Driven Robot.

Liu, P.C., Neumann, G., Fu, Q.B. and Yu, H., 2018. Energy-Efficient Design and Control of a Vibro-Driven Robot. In: IROS 2018: IEEE International Conference on Intelligent Robots and Systems, 1-5 October 2018, Madrid, Spain, 1464 - 1469.

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DOI: 10.1109/IROS.2018.8594322

Abstract

Vibro-driven robotic (VDR) systems use stick-slip motions for locomotion. Due to the underactuated nature of the system, efficient design and control are still open problems. We present a new energy preserving design based on a spring-augmented pendulum. We indirectly control the friction-induced stick-slip motions by exploiting the passive dynamics in order to achieve an improvement in overall travelling distance and energy efficacy. Both collocated and non-collocated constraint conditions are elaborately analysed and considered to obtain a desired trajectory generation profile. For tracking control, we develop a partial feedback controller which for the pendulum which counteracts the dynamic contributions from the platform. Comparative simulation studies show the effectiveness and intriguing performance of the proposed approach, while its feasibility is experimentally verified through a physical robot. Our robot is to the best of our knowledge the first nonlinear-motion prototype in literature towards the VDR systems.

Item Type:Conference or Workshop Item (Paper)
Group:Faculty of Science & Technology
ID Code:32063
Deposited By: Unnamed user with email symplectic@symplectic
Deposited On:18 Mar 2019 16:44
Last Modified:18 Mar 2019 16:44

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