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

Maximilian Stölzle; Daniela Rus; Cosimo Della Santina

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
Editors	Bruno Siciliano, Cecilia Laschi, Oussama Khatib
Publisher	Springer
Pages	1-12
Number of pages	12
Publication status	Accepted/In press - 10 Oct 2023

Publication series

Name	Springer Proceedings in Advanced Robotics (SPAR)
Publisher	Springer

Keywords

Softt Robotics
Model-based Control
Underactuation

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planar_hsa_control_ISER23Accepted author manuscript, 2.19 MBLicence: CC BY

Cite this

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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",

year = "2023",

month = oct,

day = "10",

language = "English",

series = "Springer Proceedings in Advanced Robotics (SPAR)",

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editor = "Bruno Siciliano and Cecilia Laschi and Oussama Khatib",

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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. ed. / Bruno Siciliano; Cecilia Laschi; Oussama Khatib. Springer, 2023. p. 1-12 (Springer Proceedings in Advanced Robotics (SPAR)).

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

TY - GEN

T1 - An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots

AU - Stölzle, Maximilian

AU - Rus, Daniela

AU - Della Santina, Cosimo

PY - 2023/10/10

Y1 - 2023/10/10

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.

KW - Softt Robotics

KW - Model-based Control

KW - Underactuation

UR - https://arxiv.org/abs/2310.13889

UR - https://www.youtube.com/watch?v=5A5yhMibctQ

M3 - Conference contribution

T3 - Springer Proceedings in Advanced Robotics (SPAR)

SP - 1

EP - 12

BT - Experimental Robotics: The 18th International Symposium

A2 - Siciliano, Bruno

A2 - Laschi, Cecilia

A2 - Khatib, Oussama

PB - Springer

ER -

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

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