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A state-dependent damping method to reduce collision force and its variability

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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 Nanayakkara
This 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.

History

Publication status

  • Published

File Version

  • Published version

Journal

IEEE Robotics and Automation Letters

ISSN

2377-3766

Publisher

Institute of Electrical and Electronics Engineers

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2021-03-04

First Open Access (FOA) Date

2021-03-04

First Compliant Deposit (FCD) Date

2021-03-04

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