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Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

Autor: Sachtler, Arne, Calzolari, Davide, Raff, Maximilian, Schmidt, Annika, Wotte, Yannik P., Della Santina, Cosimo, Remy, C. David, Albu-Schäffer, Alin

Publikováno v: 2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 2392-2398

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited

Externí odkaz: http://arxiv.org/abs/2404.08478

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

Autor: Coelho, Andre, Albu-Schaeffer, Alin, Sachtler, Arne, Mishra, Hrishik, Bicego, Davide, Ott, Christian, Franchi, Antonio

Publikováno v: 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, pp. 2437-2442

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigen

Externí odkaz: http://arxiv.org/abs/2303.01705

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What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?

Autor: Albu-Schäffer, Alin, Sachtler, Arne

Publikováno v: ISRR 2022: Robotics Research, Springer Nature Switzerland, pp 468-484

Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one can first

Externí odkaz: http://arxiv.org/abs/2211.08165

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Redundancy Resolution at Position Level

Autor: Albu-Schäffer, Alin, Sachtler, Arne

Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers. Additional c

Externí odkaz: http://arxiv.org/abs/2202.09869

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