Gravity compensation control of compliant joint systems with multiple drives

Emmanouil Spyrakos Papastavridis; Gustavo Medrano-Cerda; Nikos G. Tsagarakis; Jian Dai; Darwin G. Caldwell

doi:10.1109/ICRA.2013.6631286

Gravity compensation control of compliant joint systems with multiple drives

Emmanouil Spyrakos Papastavridis, Gustavo Medrano-Cerda, Nikos G. Tsagarakis, Jian Dai, Darwin G. Caldwell

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

12 Citations (Scopus)

Abstract

This paper presents a sufficient condition to establish the existence of unique equilibrium points for three types of gravity compensation controller when applied to over-actuated systems. As compared to the existing work, this paper extends the current theory by introducing feedback gain matrices that are not constrained to being diagonal and positive definite. The inherently COmpliant huMANoid (COMAN) served as a platform for the validation of the designed gravity compensation controller that employed reference link positions. The displayed experimental results provide evidence of successful link tracking of sinusoidal references on a humanoid system composed of series elastic actuators.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	IEEE International Conference on Robotics and Automation (ICRA)
Pages	4960-4966
Number of pages	7
ISBN (Print)	9781467356411
DOIs	https://doi.org/10.1109/ICRA.2013.6631286
Publication status	Published - 17 Oct 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/2013 → 10/05/2013

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10.1109/ICRA.2013.6631286

Cite this

Spyrakos Papastavridis, E., Medrano-Cerda, G., Tsagarakis, N. G., Dai, J., & Caldwell, D. G. (2013). Gravity compensation control of compliant joint systems with multiple drives. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4960-4966). Article 6631286 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2013.6631286

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abstract = "This paper presents a sufficient condition to establish the existence of unique equilibrium points for three types of gravity compensation controller when applied to over-actuated systems. As compared to the existing work, this paper extends the current theory by introducing feedback gain matrices that are not constrained to being diagonal and positive definite. The inherently COmpliant huMANoid (COMAN) served as a platform for the validation of the designed gravity compensation controller that employed reference link positions. The displayed experimental results provide evidence of successful link tracking of sinusoidal references on a humanoid system composed of series elastic actuators.",

author = "{Spyrakos Papastavridis}, Emmanouil and Gustavo Medrano-Cerda and Tsagarakis, {Nikos G.} and Jian Dai and Caldwell, {Darwin G.}",

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booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

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Spyrakos Papastavridis, E, Medrano-Cerda, G, Tsagarakis, NG, Dai, J & Caldwell, DG 2013, Gravity compensation control of compliant joint systems with multiple drives. in Proceedings - IEEE International Conference on Robotics and Automation., 6631286, IEEE International Conference on Robotics and Automation (ICRA), pp. 4960-4966, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/2013. https://doi.org/10.1109/ICRA.2013.6631286

Gravity compensation control of compliant joint systems with multiple drives. / Spyrakos Papastavridis, Emmanouil; Medrano-Cerda, Gustavo; Tsagarakis, Nikos G. et al.
Proceedings - IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA), 2013. p. 4960-4966 6631286.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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AU - Caldwell, Darwin G.

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AB - This paper presents a sufficient condition to establish the existence of unique equilibrium points for three types of gravity compensation controller when applied to over-actuated systems. As compared to the existing work, this paper extends the current theory by introducing feedback gain matrices that are not constrained to being diagonal and positive definite. The inherently COmpliant huMANoid (COMAN) served as a platform for the validation of the designed gravity compensation controller that employed reference link positions. The displayed experimental results provide evidence of successful link tracking of sinusoidal references on a humanoid system composed of series elastic actuators.

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ER -

Gravity compensation control of compliant joint systems with multiple drives

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