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A state-dependent damping method to reduce collision force and its variability
Version 2 2023-06-12, 09:45
Version 1 2023-06-09, 23:14
journal contribution
posted on 2023-06-12, 09:45 authored by Elham Hamid, Nicolas HerzigNicolas Herzig, Sara Adela Abad Guaman, Thrishantha NanayakkaraThis paper investigates the effect of biologically inspired angle-dependent damping profile in a robotic joint primarily on the magnitude and the variability of the peak collision force. Joints such as the knee that experience collision forces are known to have an angle-dependent damping profile. In this paper, we have quantified and compared three damping profiles. Our numerical and experimental results show that the proposed hyperbolic angle-dependent damping profile can minimize both the magnitude and the variability of the peak collision force(average magnitude and variability reduction of 26% and 47% compared to the peak constant damping profile). Very often, the variability of the force across the collision between the robot and the environment cause uncertainty about the state variables of the robotic joint. We show that by increasing the slope of the proposed hyperbolic angle-dependent damping profile, we can also reduce the variability and the magnitude of post-collision peak displacement and peak velocity compared to those of constant damping profile. This was achieved while reducing the mean root square of power consumed by the robotic joint.
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- Published
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- Published version
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IEEE Robotics and Automation LettersISSN
2377-3766Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-03-04First Open Access (FOA) Date
2021-03-04First Compliant Deposit (FCD) Date
2021-03-04Usage metrics
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