1. Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control
- Author
-
Olivier Stasse, Bertrand Tondu, Philippe Souères, F. Forget, J. Manhes, G. Kumar Hari Shankar Lal Das, Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Laboratoire d'Étude des Systèmes Informatiques et Automatiques (LESIA-INSA), Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT), Service Instrumentation Conception Caractérisation (LAAS-I2C), European Project: 608849,EC:FP7:ICT,FP7-2013-NMP-ICT-FOF,EUROC(2014), European Project: 340050,EC:FP7:ERC,ERC-2013-ADG,ACTANTHROPE(2014), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)
- Subjects
0209 industrial biotechnology ,Engineering ,Robot kinematics ,model ,Pneumatic muscles ,Pneumatic actuator ,business.industry ,Control engineering ,02 engineering and technology ,Linear-quadratic regulator ,Optimal control ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,optimal control ,020303 mechanical engineering & transports ,020901 industrial engineering & automation ,explosive motion ,0203 mechanical engineering ,Position (vector) ,Control theory ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Artificial muscle ,Differential dynamic programming ,Differential Dynamic Programming ,Actuator ,business - Abstract
International audience; Pneumatic actuators have inherent compliance and hence they are very interesting for applications involving interaction with environment or human. But controlling such kind of actuators is not trivial. The paper presents an implementation of iterative Linear Quadratic regulator (iLQR) based optimal control framework to control an anthropomorphic arm with each joint actuated by an agonist-antagonistic pair of Mckibben artificial muscles. The method is applied to positioning tasks and generation of explosive movements by maximizing the link speed. It is then compared to traditional control strategies to justify that optimal control is effective in controlling the position in highly non-linear pneumatic systems. Also the importance of varying compliance is highlighted by repeating the tasks at different compliance level. The algorithm validation is reported here by several simulations and hardware experiments in which the shoulder and elbow flexion are controlled simultaneously.
- Published
- 2016
- Full Text
- View/download PDF