A Method to Guide Local Physical Adaptations in a Robot Based on Phase Portraits

IEEE Access

H. Wegiriya¹  S. Akhond²  N. Herzig²  T. Nanayakkara³ 

[1] Department of Informatics, Centre for Robotics Research, King&x2019;Design Engineering, Dyson School of Engineering, Imperial College London, London, U.K.;s College London, London, U.K.;

关键词: Computer numerical control;    embodied control;    robotics and automation;    robot motion;   

DOI  :  10.1109/ACCESS.2019.2923144

来源: DOAJ

【 摘 要 】

In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective.

【 授权许可】

Unknown