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Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators

Title
Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators
Authors
Lee, HyunwookLee JinohRyu Jee-HwanOh S.
DGIST Authors
Oh S.
Issue Date
2019-11-03
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems, 7610-7615
Type
Conference
ISBN
9781728140049
ISSN
2153-0858
Abstract
This paper proposes a practical and less conservative passivity analysis for series elastic actuators (SEAs) by introducing load port definition and shows that the achievable stiffness by the impedance control of SEA can be set higher than the inherent stiffness of SEA depending on the condition of the load dynamics. Since SEA can inherently measure or estimate a transmitted force thanks to its embedded spring element, impedance control is often exploited to render compliant behaviors related between the motion and the force. Although the stability of the SEA control system is of great importance, the conventional passivity analysis gives conservative criteria, and indeed limits the actual actuator performance. To tackle the conservatism of the conventional passivity in SEAs, we first explore the dynamic characteristics of SEA including load dynamics, which has been ignored for the sake of simplicity of the passivity analysis by excluding uncertain load dynamics. The inclusion of the load dynamics into the passivity analysis allows us to properly derive the less conservative limit of achievable stiffness by impedance control and the factors that determine the limit. The proposed analysis is verified by numerical simulations and applied to a passivity observer design for experimental validation on an actual SEA setup. © 2019 IEEE.
URI
http://hdl.handle.net/20.500.11750/11579
DOI
10.1109/IROS40897.2019.8968217
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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