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Energy-Efficient Design and Control of a Vibro-Driven Robot

Liu, Pengcheng; Neumann, Gerhard; Fu, Qinbing; Pearson, Simon; Yu, Hongnian

Authors

Pengcheng Liu

Gerhard Neumann

Qinbing Fu

Simon Pearson



Abstract

Vibro-driven robotic (VDR) systems use stick-slip motions for locomotion. Due to the underactuated nature of the system, efficient design and control are still open problems. We present a new energy preserving design based on a spring-augmented pendulum. We indirectly control the friction-induced stick-slip motions by exploiting the passive dynamics in order to achieve an improvement in overall travelling distance and energy efficiency. Both collocated and non-collocated constraint conditions are elaborately analysed and considered to obtain a desired trajectory generation profile. For tracking control, we develop a partial feedback controller for the driving pendulum which counteracts the dynamic contributions from the platform. Comparative simulation studies show the effectiveness and intriguing performance of the proposed approach, while its feasibility is experimentally verified through a physical robot. Our robot is to the best of our knowledge the first nonlinear-motion prototype in literature towards the VDR systems.

Presentation Conference Type Conference Paper (Published)
Conference Name 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start Date Oct 1, 2018
End Date Oct 5, 2018
Online Publication Date Jan 7, 2019
Publication Date 2018
Deposit Date Jun 18, 2022
Publisher Institute of Electrical and Electronics Engineers
Series ISSN 2153-0866
Book Title 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI https://doi.org/10.1109/iros.2018.8594322
Public URL http://researchrepository.napier.ac.uk/Output/2880451