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A method to guide local physical adaptations in a robot based on phase portraits

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Title: A method to guide local physical adaptations in a robot based on phase portraits
Authors: Akhond, S
Herzig, N
Wegiriya, H
Nanayakkara, DPT
Item Type: Journal Article
Abstract: In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective.
Issue Date: 14-Jun-2019
Date of Acceptance: 12-Jun-2019
URI: http://hdl.handle.net/10044/1/71607
DOI: https://dx.doi.org/10.1109/ACCESS.2019.2923144
ISSN: 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Start Page: 1
End Page: 13
Journal / Book Title: IEEE Access
Volume: 7
Copyright Statement: © 2019 The Author(s). This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0 - https://creativecommons.org/licenses/by/4.0/).
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/N03211X/2
Publication Status: Published online
Online Publication Date: 2019-06-14
Appears in Collections:Dyson School of Design Engineering



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