This work presents a phase space and input transformation that enables a particular class of underactuated Lagrangian systems to be treated as if fully actuated. By utilizing this concept of quasi-full actuation, a passivity-based control scheme named Elastic Structure Preserving (ESP) control is developed for robots with elastic or viscoelastic joints. Through real-life experiments and applications, the proposed controllers demonstrate that compliant robots hold promise as groundbreaking robotic technology.
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This work presents a phase space and input transformation that enables a particular class of underactuated Lagrangian systems to be treated as if fully actuated. By utilizing this concept of quasi-full actuation, a passivity-based control scheme named Elastic Structure Preserving (ESP) control is developed for robots with elastic or viscoelastic joints. Through real-life experiments and applications, the proposed controllers demonstrate that compliant robots hold promise as groundbreaking roboti...
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Translated abstract:
Diese Arbeit präsentiert eine Phasenraum- und Eingangstransformation, um unteraktuierte Lagrange-Systeme als vollaktuiert zu behandeln. Mit diesem Konzept der quasi-vollständigen Aktuierung wird eine neue passivitäts-basierten Regelung namens Elastic Structure preserving (ESP) control für elastische und viskoelastische Roboter entwickelt. Durch reale Experimente und Anwendungen zeight das vorgeschlagenen Regelungskonzept das Potenzial nachgiebiger Roboter als bahnbrechende Robotertechnologie.