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A State-Dependent Damping Method to Reduce Collision Force and Its Variability

Hamid, E; Herzig, N; Abad Guaman, SA; Nanayakkara, T; (2021) A State-Dependent Damping Method to Reduce Collision Force and Its Variability. IEEE Robotics and Automation Letters 10.1109/LRA.2021.3062307. (In press). Green open access

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Abstract

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.

Type: Article
Title: A State-Dependent Damping Method to Reduce Collision Force and Its Variability
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/LRA.2021.3062307
Publisher version: https://doi.org/10.1109/LRA.2021.3062307
Language: English
Additional information: This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
Keywords: Actuation and Joint Mechanisms, Compliance and Impedance Control, Robots, Damping, Collision avoidance, Force, Impedance, Knee, Legged locomotion
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10124603
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