Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators

Valerio Salvucci; Yasuto Kimura; Sehoon Oh; Yoichi Hori

doi:10.1109/acc.2011.5991562

Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators

Valerio Salvucci, Yasuto Kimura, Sehoon Oh, Yoichi Hori

Department of Robotics and Mechatronics Engineering

The University of Tokyo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

Recently, there has been increasing attention on animal inspired manipulators equipped with bi-articular actuators. Bi-articular actuated manipulators usually present more actuators than joints, resulting in actuator redundancy. In order to resolve this torque load sharing problem, in this paper a new approach based on infinity norm is proposed and successfully implemented on BiWi, Bi-articularly actuated and Wire driven manipulator. The infinity norm model maximizes the force at the end effector given the maximum actuator joint torques. Therefore, it is an approach to optimize actuators design for bi-articularly actuated manipulators. The infinity norm approach is based only on linear functions for actuator redundancy resolution.

Original language	English
Title of host publication	Proceedings of the 2011 American Control Conference, ACC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4105-4110
Number of pages	6
ISBN (Print)	9781457700804
DOIs	https://doi.org/10.1109/acc.2011.5991562
State	Published - 2011

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Access to Document

10.1109/acc.2011.5991562

Cite this

Salvucci, V., Kimura, Y., Oh, S., & Hori, Y. (2011). Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. In Proceedings of the 2011 American Control Conference, ACC 2011 (pp. 4105-4110). Article 5991562 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2011.5991562

Salvucci, Valerio ; Kimura, Yasuto ; Oh, Sehoon et al. / Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. Proceedings of the 2011 American Control Conference, ACC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. pp. 4105-4110 (Proceedings of the American Control Conference).

@inproceedings{f29933b9b92b408e9f1f9c798c0e52d3,

title = "Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators",

abstract = "Recently, there has been increasing attention on animal inspired manipulators equipped with bi-articular actuators. Bi-articular actuated manipulators usually present more actuators than joints, resulting in actuator redundancy. In order to resolve this torque load sharing problem, in this paper a new approach based on infinity norm is proposed and successfully implemented on BiWi, Bi-articularly actuated and Wire driven manipulator. The infinity norm model maximizes the force at the end effector given the maximum actuator joint torques. Therefore, it is an approach to optimize actuators design for bi-articularly actuated manipulators. The infinity norm approach is based only on linear functions for actuator redundancy resolution.",

author = "Valerio Salvucci and Yasuto Kimura and Sehoon Oh and Yoichi Hori",

year = "2011",

doi = "10.1109/acc.2011.5991562",

language = "English",

isbn = "9781457700804",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4105--4110",

booktitle = "Proceedings of the 2011 American Control Conference, ACC 2011",

}

Salvucci, V, Kimura, Y, Oh, S & Hori, Y 2011, Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. in Proceedings of the 2011 American Control Conference, ACC 2011., 5991562, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 4105-4110. https://doi.org/10.1109/acc.2011.5991562

Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. / Salvucci, Valerio; Kimura, Yasuto; Oh, Sehoon et al.
Proceedings of the 2011 American Control Conference, ACC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 4105-4110 5991562 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators

AU - Salvucci, Valerio

AU - Kimura, Yasuto

AU - Oh, Sehoon

AU - Hori, Yoichi

PY - 2011

Y1 - 2011

N2 - Recently, there has been increasing attention on animal inspired manipulators equipped with bi-articular actuators. Bi-articular actuated manipulators usually present more actuators than joints, resulting in actuator redundancy. In order to resolve this torque load sharing problem, in this paper a new approach based on infinity norm is proposed and successfully implemented on BiWi, Bi-articularly actuated and Wire driven manipulator. The infinity norm model maximizes the force at the end effector given the maximum actuator joint torques. Therefore, it is an approach to optimize actuators design for bi-articularly actuated manipulators. The infinity norm approach is based only on linear functions for actuator redundancy resolution.

AB - Recently, there has been increasing attention on animal inspired manipulators equipped with bi-articular actuators. Bi-articular actuated manipulators usually present more actuators than joints, resulting in actuator redundancy. In order to resolve this torque load sharing problem, in this paper a new approach based on infinity norm is proposed and successfully implemented on BiWi, Bi-articularly actuated and Wire driven manipulator. The infinity norm model maximizes the force at the end effector given the maximum actuator joint torques. Therefore, it is an approach to optimize actuators design for bi-articularly actuated manipulators. The infinity norm approach is based only on linear functions for actuator redundancy resolution.

UR - http://www.scopus.com/inward/record.url?scp=80053144602&partnerID=8YFLogxK

U2 - 10.1109/acc.2011.5991562

DO - 10.1109/acc.2011.5991562

M3 - Conference contribution

AN - SCOPUS:80053144602

SN - 9781457700804

T3 - Proceedings of the American Control Conference

SP - 4105

EP - 4110

BT - Proceedings of the 2011 American Control Conference, ACC 2011

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Salvucci V, Kimura Y, Oh S, Hori Y. Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. In Proceedings of the 2011 American Control Conference, ACC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 4105-4110. 5991562. (Proceedings of the American Control Conference). doi: 10.1109/acc.2011.5991562

Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators

Abstract

Publication series

Access to Document

Other files and links

Fingerprint

Cite this