Energy-efficient design and control of a vibro-driven robot

Liu, Pengcheng and Neumann, Gerhard and Fu, Qinbing and Pearson, Simon and Yu, Hongnian (2018) Energy-efficient design and control of a vibro-driven robot. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.

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Energy-efficient design and control of a vibro-driven robot

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Abstract

Vibro-driven robotic (VDR) systems use stick-slip motions for locomotion. Due to the underactuated nature of the system, efficient design and control are still open problems. We present a new energy preserving design based on a spring-augmented pendulum. We indirectly control the friction-induced stick-slip motions by exploiting the passive dynamics in order to achieve an improvement in overall travelling distance and energy efficacy. Both collocated and non-collocated constraint conditions are elaborately analysed and considered to obtain a desired trajectory generation profile. For tracking control, we develop a partial feedback controller which for the pendulum which counteracts the dynamic contributions from the platform. Comparative simulation studies show the effectiveness and intriguing performance of the proposed approach, while its feasibility is experimentally verified through a physical robot. Our robot is to the best of our knowledge the first nonlinear-motion prototype in literature towards the VDR systems.

Keywords:Autonomous robots, Energy-efficient control, Motion generation
Subjects:H Engineering > H660 Control Systems
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:32540
Deposited On:02 Jul 2018 14:25

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