An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots

Maximilian Stölzle; Daniela Rus; Cosimo Della Santina

doi:10.1007/978-3-031-63596-0_14

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots

Maximilian Stölzle, Daniela Rus, Cosimo Della Santina

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.

Original language	English
Title of host publication	Experimental Robotics - The 18th International Symposium
Subtitle of host publication	The 18th International Symposium
Editors	Marcelo H. Ang Jr, Oussama Khatib
Publisher	Springer
Pages	153-167
Number of pages	15
ISBN (Electronic)	978-3-031-63596-0
ISBN (Print)	978-3-031-63595-3
DOIs	https://doi.org/10.1007/978-3-031-63596-0_14
Publication status	Published - 2024
Event	ISER 2023 - 18th International Symposium on Experimental Robotics - Chiang Ma, Thailand Duration: 26 Nov 2023 → 30 Nov 2023

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	30
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	ISER 2023 - 18th International Symposium on Experimental Robotics
Country/Territory	Thailand
City	Chiang Ma
Period	26/11/23 → 30/11/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Softt Robotics
Model-based Control
Underactuation

Access to Document

10.1007/978-3-031-63596-0_14

978-3-031-63596-0_14Final published version, 3.28 MB

Cite this

Stölzle, M., Rus, D., & Della Santina, C. (2024). An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots. In M. H. Ang Jr, & O. Khatib (Eds.), Experimental Robotics - The 18th International Symposium: The 18th International Symposium (pp. 153-167). (Springer Proceedings in Advanced Robotics; Vol. 30). Springer. https://doi.org/10.1007/978-3-031-63596-0_14

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title = "An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots",

abstract = "Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.",

keywords = "Softt Robotics, Model-based Control, Underactuation",

author = "Maximilian St{\"o}lzle and Daniela Rus and {Della Santina}, Cosimo",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; ISER 2023 - 18th International Symposium on Experimental Robotics ; Conference date: 26-11-2023 Through 30-11-2023",

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language = "English",

isbn = "978-3-031-63595-3",

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}

Stölzle, M, Rus, D & Della Santina, C 2024, An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots. in MH Ang Jr & O Khatib (eds), Experimental Robotics - The 18th International Symposium: The 18th International Symposium. Springer Proceedings in Advanced Robotics, vol. 30, Springer, pp. 153-167, ISER 2023 - 18th International Symposium on Experimental Robotics , Chiang Ma, Thailand, 26/11/23. https://doi.org/10.1007/978-3-031-63596-0_14

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots. / Stölzle, Maximilian; Rus, Daniela; Della Santina, Cosimo.
Experimental Robotics - The 18th International Symposium: The 18th International Symposium. ed. / Marcelo H. Ang Jr; Oussama Khatib. Springer, 2024. p. 153-167 (Springer Proceedings in Advanced Robotics; Vol. 30).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Stölzle, Maximilian

AU - Rus, Daniela

AU - Della Santina, Cosimo

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2024

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N2 - Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.

AB - Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.

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KW - Model-based Control

KW - Underactuation

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Y2 - 26 November 2023 through 30 November 2023

ER -

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots

Abstract

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Bibliographical note

Keywords

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Safe yet Precise Soft Robots: Incorporating Physics into Learned Models for Control

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