Visual feedback control of tensegrity robotic systems

Haresh Karnan, Raman Goyal, Manoranjan Majji, Robert E. Skelton, Puneet Singla

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Feedback control problems pertaining to the control of tensegrity robotic systems are detailed in this paper. The unique problems that arise due to the positivity of the string tensions required to maintain the static stability and desirable stiffness of the structural system are shown to bring about interesting opportunities to optimize for the redundancy in the actuation process. The static stability consideration, coupled with the nonlinear dynamics and the sensor models introduce additional algebraic constraints in implementation of both kinematic and model based dynamic controllers for tensegrity systems. Approaches to develop kinematic and dynamic control techniques are detailed in this paper. A bench top experimental setup consisting of a simple tensegrity system is utilized to demonstrate the efficacy of the output feedback control approach developed in the paper. Near real time image measurements are utilized to drive the output error used in the control scheme.

Original languageEnglish (US)
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2048-2053
Number of pages6
ISBN (Electronic)9781538626825
DOIs
StatePublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period9/24/179/28/17

Fingerprint

Feedback control
Robotics
Kinematics
Redundancy
Stiffness
Controllers
Sensors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Karnan, H., Goyal, R., Majji, M., Skelton, R. E., & Singla, P. (2017). Visual feedback control of tensegrity robotic systems. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2048-2053). [8206022] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206022
Karnan, Haresh ; Goyal, Raman ; Majji, Manoranjan ; Skelton, Robert E. ; Singla, Puneet. / Visual feedback control of tensegrity robotic systems. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2048-2053 (IEEE International Conference on Intelligent Robots and Systems).
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abstract = "Feedback control problems pertaining to the control of tensegrity robotic systems are detailed in this paper. The unique problems that arise due to the positivity of the string tensions required to maintain the static stability and desirable stiffness of the structural system are shown to bring about interesting opportunities to optimize for the redundancy in the actuation process. The static stability consideration, coupled with the nonlinear dynamics and the sensor models introduce additional algebraic constraints in implementation of both kinematic and model based dynamic controllers for tensegrity systems. Approaches to develop kinematic and dynamic control techniques are detailed in this paper. A bench top experimental setup consisting of a simple tensegrity system is utilized to demonstrate the efficacy of the output feedback control approach developed in the paper. Near real time image measurements are utilized to drive the output error used in the control scheme.",
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Karnan, H, Goyal, R, Majji, M, Skelton, RE & Singla, P 2017, Visual feedback control of tensegrity robotic systems. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206022, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 2048-2053, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 9/24/17. https://doi.org/10.1109/IROS.2017.8206022

Visual feedback control of tensegrity robotic systems. / Karnan, Haresh; Goyal, Raman; Majji, Manoranjan; Skelton, Robert E.; Singla, Puneet.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2048-2053 8206022 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Karnan H, Goyal R, Majji M, Skelton RE, Singla P. Visual feedback control of tensegrity robotic systems. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2048-2053. 8206022. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2017.8206022