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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Krisjanis Visnevskis Shakiru Olajide Kassim Maria Elena Giannaccini Vahid Vaziri Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) Centre for Advanced Dynamic Research (CADR) School of Engineering University of Aberdeen Aberdeen UK

Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the *** paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

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Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance

Chattering-Free Sliding-Mode Control of a Soft Actuator for ...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Shakiru Olajide Kassim James D. MacLean Vahid Vaziri Sumeet S. Aphale Department of Computer Engineering Technology The Federal Polytechnic Damaturu Yobe Nigeria Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) School of Engineering University of Ab-erdeen Aberdeen UK Centre for Applied Dynamic Research (CADR) School of Engineering University of Aberdeen Aberdeen UK Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) School of Engineering University of Aberdeen Aberdeen UK

The increasing wide popularity of Electro-Adhension actuation through Dielectric Elastomer is credited to their suitability in several bio-inspired applications such as flexible prosthetics, humanoid grasps, bio-mimicking robots etc. Virtually all DEAs suffer from precise positioning challenges due to their inherent strong nonlinear dynamics, namely: creep and hysteresis. As a consequence, there is a necessity to establish control-enabling DEA models and accompanying control strategies that eliminate these undesirable dynamics and allow for precise reference tracking. In this paper, an experimentally validated DEA model is employed to design a simple yet well-performing control strategy based on the Sliding Mode Control (SMC) philosophy. To further enhance the control performance and improve implementability, a technique to eliminate the inherent control input chattering present in typical SMC designs is also described. Extensive closed-loop simulations are performed, and tracking performances are quantified to justify the designed superiority of the control scheme performance.

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Learning Stable and Robust Linear Parameter-Varying State-Space Models

Learning Stable and Robust Linear Parameter-Varying State-Sp...

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IEEE Conference on Decision and Control

作者： Chris Verhoek Ruigang Wang Roland Tóth Control Systems Group Eindhoven University of Technology The Netherlands Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia Vehicle Industry Research Center Szechenyi Istvan University Hungary

This paper presents two direct parameterizations of stable and robust linear parameter-varying state-space (LPV-SS) models. The model parametrizations guarantee a priori that for all parameter values during training, the allowed models are stable in the contraction sense or have their Lipschitz constant bounded by a user-defined value $\gamma$ . Furthermore, since the parametrizations are direct, the models can be trained using unconstrained optimization. The fact that the trained models are of the LPV-SS class makes them useful for, e.g., further convex analysis or controller design. The effectiveness of the approach is demonstrated on an LPV identification problem.

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Learning Stable and Robust Linear Parameter-Varying State-Space Models

arXiv

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arXiv 2023年

作者： Verhoek, Chris Wang, Ruigang Tóth, Roland Control Systems Group Eindhoven University of Technology Netherlands The Australian Centre for Robotics The School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia The Vehicle Industry Research Center Széchenyi István University Hungary

This paper presents two direct parameterizations of stable and robust linear parameter-varying state-space (LPV-SS) models. The model parametrizations guarantee a priori that for all parameter values during training, the allowed models are stable in the contraction sense or have their Lipschitz constant bounded by a user-defined value γ. Furthermore, since the parametrizations are direct, the models can be trained using unconstrained optimization. The fact that the trained models are of the LPV-SS class makes them useful for, e.g., further convex analysis or controller design. The effectiveness of the approach is demonstrated on an LPV identification problem. © 2023, CC BY-NC-SA.

关键词： Optimization

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A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications

A Dual Cavity Pleated Structures Soft Pneumatic Actuator for...

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AFRICON Conference

作者： Shakiru Olajide Kassim Krisjanis Visnevskis Vahid Vaziri Sumeet S. Aphale Department of Computer Engineering Technology Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) The Federal Polytechnic Damaturu Yobe State of Nigeria Centre for Advanced Dynamic Research (CADR) School of Engineering University of Aberdeen Aberdeen UK

The overwhelming popularity and growth in evolution of soft robotics is largely credited to the ever-increasing design and capability portfolio of soft pneumatic actuators (SPAs). Despite the numerous challenges that complicate their modeling and control, viz: geometrical and material nonlinearities, intrinsic dynamic behaviour and diverse control requirements, they have found more application in flexible robots design. To this end, this work presents a design of a novel dual cavity pleated structure soft pneumatic actuator (DCPS-SPA) targeted towards providing enhanced dexterous applications. In order to achieve this, the finite-element model (FEM) of the DCPS-SPA is presented to describe its dynamic behaviour using the Ogden hyperelasticity model parameters. The bending angle and contact force are experimentally validated and compared with the FEM results and a single cavity type SPA, respectively. Experimental results obtained show a promising possibility of utilizing the proposed DCPS-SPA for enhanced dexterous manipulation applications.

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Enhancing Robot Teleoperation in Remote Automation Production through an Event-Triggered Control Strategy

Enhancing Robot Teleoperation in Remote Automation Productio...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Mengke Wang Honghao Lv Ruohan Wang Haiteng Wu Lipeng Chen Yi Chen Haihui Yuan Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China Robotics X Tencent Shenzhen China Intelligent Manufacturing Center DongFang Electric Corporation Academy of Science and Technology Co Chengdu China China South Industries Group Corporation Hangzhou Automation Research Insititute Co. Ltd. China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

With the advancement of intelligent manufacturing, an increasing number of industrial production processes are transforming unmanned operations. This trend is particularly evident in factories that involve potential safety hazards, where the demand for unmanned production is becoming increasingly urgent. Teleoperation, as a core technology for achieving unmanned factories, holds tremendous importance in keeping workers safe from danger. However, traditional teleoperation strategies encounter challenges due to mismatches between master and slave workspaces, making it difficult to achieve both high precision and operation across large workspaces simultaneously. To address this issue, this paper proposes an event-triggered control strategy for a teleoperated robot system. By introducing a foot pedal as the event-triggered switch, the enablement and termination of teleoperation are associated with the activation of the pedal. Through resetting the start position, fine-grained teleoperation is achieved throughout the entire workspace of the robot. To demonstrate the advantages of the proposed control strategy, a mimicked wiring operation task scenario is constructed for experimental verification, and the teleoperation tasks are completed successfully and efficiently.

关键词： Wiring Accuracy Service robots Switches Market research Production facilities Main-secondary

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An embodiment paradigm in evaluation of human-in-the-loop control

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IFAC-PapersOnLine 2019年第34期51卷 104-109页

作者： Fröhner, Jakob Beckerle, Philipp Endo, Satoshi Hirche, Sandra Chair of Information-oriented Control Technical University of Munich Munich80333 Germany Elastic Lightweight Robotics Group Robotics Research Institute Technische Universität Dortmund Dortmund44221 Germany Institute for Mechatronic Systems Technische Universität Darmstadt Darmstadt64287 Germany

This study introduces a novel approach for evaluating the quality of human-in-the-loop control using the psychological construct of embodiment in a haptic human-machine interaction task. Despite the fact that various forms of assistive control have been introduced, these methods mainly design semi-autonomous control to improve task-specific interaction performance. From a user perspective, however, the introduction of semi-autonomous control reduces controllability of the system, which could lead to negative user experience. Psychological research suggests sensory-motor factors dynamically modulate cognition of an external entity belonging to one's own body, i.e., embodiment. In our paradigm, we apply methods for evaluating embodiment in a virtual reality (VR) environment where the human users perform a reaching task with semi-autonomous haptic assistance to measure the degree to which the embodiment is effected by the quality of semi-autonomy Our results with 8 participants show good persistence of subjective embodiment and subcomponents of presence within VR environment when a predictable assistive control is introduced while unpredictable assistance hindered the subjective embodiment. Results indicate embodiment can be exploited as a quantitative evaluation method of semi-autonomous controllers from a user-centric perspective. © 2019

关键词： Quality control Closed loop control systems Virtual reality Embodiment Human machine interaction Human in the loop control Psychological research Quantitative evaluation methods Semi autonomous control Shared control Specific interaction

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Achieving consensus in spite of stubbornness: time-varying concatenated Friedkin-Johnsen models

Achieving consensus in spite of stubbornness: time-varying c...

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IEEE Conference on Decision and Control

作者： L. Wang C. Bernardo Y. Hong F. Vasca G. Shi C. Altafini Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Group for Research on Automatic Control Engineering University of Sannio Benevento Italy Tongji University Shanghai China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Sydney Division of Automatic Control Linköping University Linköping Sweden

ISBN: (纸本)9781665436601

A concatenated Friedkin-Johnsen (FJ) model is a two time-scale opinion dynamics model in which stubborn agents discuss a sequence of issues. For each issue, a FJ model is adopted, and concatenation refers to the fact that the final opinion of the agents at issue s becomes the initial condition at issue s + 1. In this paper we deal with the case in which the system is open, i.e., the group of interacting agents changes at each issue, and so does their stubbornness. A concatenated FJ model can in this case be represented as an infinite product of stochastic matrices. For such system, we obtain sufficient conditions under which the opinions of the agents converge to consensus.

关键词： Sufficient conditions Conferences Stochastic processes

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A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis

A Stiffness-Fault-Tolerant Control Strategy for an Elastical...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rodrigo J. Velasco-Guillen Victor Grosu Víctor A. Carmona-Ortiz Bram Vanderborght Dirk Lefeber Josep M. Font-Llagunes Philipp Beckerle Elastic Lightweight Robotics Group Technische Universität Dortmund Dortmund Germany Robotics and MultiBody Mechanics Research Group Vrije Universiteit Brussel and Flanders Make Brussels Belgium Biomechanical Engineering Lab Universitat Politècnica de Catalunya Barcelona Spain Institute for Mechatronic Systems Technische Universität Darmstadt Darmstadt Germany

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Elastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present a stiffness-fault-tolerant control strategy for complex elastic actuators, capable of adapting to changes in output stiffness, and demonstrate it on a smart variable stiffness actuator based on the MACCEPA concept. We develop the dynamics of the actuator and a model-based impedance control scheme. Biomechanical data extracted from the flexion/extension of a real knee joint are used as trajectory reference for the evaluation of the control concept in simulation. Results show that the controlled actuator is capable of tracking a reference trajectory under fault conditions and interaction disturbance while maintaining physical human-robot characteristics.

关键词： Actuators Torque Springs Trajectory Impedance Robots Estimation

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Cover Image, Volume 10, Issue 2

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WIREs Cognitive Science 2019年第2期10卷

作者： Philipp Beckerle Claudio Castellini Bigna Lenggenhager Elastic Lightweight Robotics Group Robotics Research Institute Technische Universität Dortmund Dortmund Germany Institute for Mechatronic Systems in Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany Institut of Robotics and Mechatronics DLR German Aerospace Center Oberpfaffenhofen Germany Cognitive Neuropsychology Department of Psychology University of Zurich Zurich Switzerland

The cover image is based on the Focus Article Robotic interfaces for cognitive psychology and embodiment research: a research roadmap , by Philipp Beckerle, Claudio Castellini, and Bigna Lenggenhager, https://***/10.1...

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