平面型ハンデッド・シアリング・オーセティクスロボットのモデルベース制御に関する実験的研究
An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
ハンデッド・シアリング・オーセティクス（HSA）を用いた平面ロボットに対し、運動方程式を導出してモデルベースのP-satI-Dフィードバック制御器を設計し、閉ループ実験で有効性を検証した。
著者: Maximilian Stölzle, Daniela Rus, Cosimo Della Santina
分類: cs.RO
原文アブストラクト
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.
