Abstract
Thanks to their body elasticity, articulated soft robots promise to produce effective and robust oscillations with low energy consumption. This in turn is an important feature which can be exploited in the execution of many tasks, as for example locomotion. Yet, an established theory and general techniques allowing to excite and sustain these nonlinear oscillations are still lacking. A possible solution to this problem comes from nonlinear modal theory, which defines curved extensions of linear Eigenspaces called Eigenmanifolds. Stabilizing these surfaces is equivalent to exciting regular hyper-efficient oscillations in the robotic system. This paper proposes a first experimental validation of the Eigenmanifold stabilization technique. It also proposes a simple yet effective means of injecting energy into the system, so to sustain the oscillations in presence of damping. We consider as experimental setups a single robotic leg, and a full soft quadruped. Preliminary locomotion results are provided with both systems.
Original language | English |
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Title of host publication | Experimental Robotics |
Subtitle of host publication | Proceedings of the 17th International Symposium (ISER 2020) |
Editors | Bruno Siciliano, Cecilia Laschi, Oussama Khatib |
Place of Publication | 978-3-030-71150-4 |
Publisher | Springer |
Pages | 566-575 |
ISBN (Electronic) | 978-3-030-71151-1 |
DOIs | |
Publication status | Published - 2021 |
Event | ISER 2020: 17th International Symposium on Experimental Robotics - , Malta Duration: 9 Nov 2021 → 12 Nov 2021 |
Publication series
Name | Springer Proceedings in Advanced Robotics |
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Volume | 19 |
ISSN (Print) | 2511-1256 |
ISSN (Electronic) | 2511-1264 |
Conference
Conference | ISER 2020: 17th International Symposium on Experimental Robotics |
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Country/Territory | Malta |
Period | 9/11/21 → 12/11/21 |
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-careOtherwise 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
- Articulated soft robotics
- Feedback control
- Locomotion
- Nonlinear oscillations