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Hydraulic actuation impedance control for robots with legs and arms

Grant number: 18/15472-9
Support Opportunities:Research Grants - Young Investigators Grants
Duration: February 01, 2020 - January 31, 2025
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Thiago Boaventura Cunha
Grantee:Thiago Boaventura Cunha
Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated researchers:Adriano Almeida Gonçalves Siqueira ; Daniel Varela Magalhães ; Glauco Augusto de Paula Caurin ; Marcelo Becker ; Paulo Sergio Varoto ; Vivian Suzano Medeiros
Associated scholarship(s):24/04689-8 - Software for control and data acquisition of experimental platforms with hydraulic and electrical drives, BP.TT
23/14891-6 - Development and assembly of a test bench for electric and hydraulic rotary actuators, BP.TT
23/11407-6 - Implementation and Analysis of Force and Impedance Controllers applied to Legged Robots, BP.MS
+ associated scholarships 22/16048-1 - Controllers certification., BP.IC
22/05048-0 - Methodology for the mechanical impedance tuning of quadruped robots, BP.DD
22/09357-8 - Stability and passivity benchmarking for impedance control, BP.IC
22/06634-0 - Implementation of force and impedance control strategies for robots with legs and arms in physical interaction applications., BP.TT
22/00354-6 - Assembly and development of a test bench for quadruped robots, BP.IC
21/09244-6 - Impedance controllers benchmark, BP.DD
21/03373-9 - Comparison of hydraulic and electrical actuation systems for robotics, BP.MS
21/02839-4 - Analysis of the influence of structural vibration modes on the passivity of impedance controllers, BP.IC
21/02113-3 - Benchmarking of real-time systems, BP.IC
20/12730-7 - Investigation of the influency of practical aspects of controllers performance, BP.MS - associated scholarships

Abstract

Hydraulic actuators have several properties that make them a suitable choice for mobile robots with arms and legs. Firstly, they have higher power density than electric actuators, satisfying the requirements of force and speed with more compact and lighter devices, and with no need for additional gearboxes. They are also stiffer, resulting in the possibility to have better closed-loop performance. Yet, the research on this technology in the robotics field is very limited in Brazil, including USP. Thus, this project aims at filling this gap and leveraging the use of hydraulics in robotics in the State of Sao Paulo and in Brazil, thus matching the requirements for the call "Young Researchers in Emerging Institutions". The focus of the project is on the control of this kind of actuators, mainly force and impedance control under interaction with humans and the environment. Many model-based and nonlinear approaches will be implemented in hydraulically-actuated platforms of different complexities, including an arm and a quadruped robot. The project comprises also syHydraulic actuators have several properties that make them a suitable choice for mobile robots with arms and legs. Firstly, they have higher power density than electric actuators, satisfying the requirements of force and speed with more compact and lighter devices, and with no need for additional gearboxes. They are also stiffer, resulting in the possibility to have better closed-loop performance. Yet, the research on this technology in the robotics field is very limited in Brazil, including USP. Thus, this project aims at filling this gap and leveraging the use of hydraulics in robotics in the State of Sao Paulo and in Brazil, thus matching the requirements for the call "Young Researchers in Emerging Institutions". The focus of the project is on the control of this kind of actuators, mainly force and impedance control under interaction with humans and the environment. Many model-based and nonlinear approaches will be implemented in hydraulically-actuated platforms of different complexities, including an arm and a quadruped robot. The project comprises also systematic analyses of important characteristics of the closed-loop system, such as sampling and control frequencies, as well as the hydraulic transmission stiffness. The same algorithms will also be implemented in electrically-actuated platforms for a methodical comparison in terms of performance and stability, highlighting pros and cons of each. This project is 4 years long and counts also on the considerable financial, technological, and intellectual support from 1 national and 7 international prestigious partners. (AU)stematic analyses of important characteristics of the closed-loop system, such as sampling and control frequencies, as well as the hydraulic transmission stiffness. The same algorithms will also be implemented in electrically-actuated platforms for a methodical comparison in terms of performance and stability, highlighting pros and cons of each. This project is 4 years long and counts also on the considerable financial, technological, and intellectual support from 1 national and 7 international prestigious partners. (AU)

Articles published in Agência FAPESP Newsletter about the research grant:
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Scientific publications (8)
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
DOS SANTOS, LEONARDO F.; ESCALANTE, FELIX M.; SIQUEIRA, ADRIANO A. G.; BOAVENTURA, THIAGO; IEEE. IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator. 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 6-pg., . (18/15472-9, 13/14756-0, 21/09244-6, 19/05937-7)
MORENO, JOSE Y.; ESCALANTE, FELIX M.; BOAVENTURA, THIAGO; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction. 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022), v. N/A, p. 6-pg., . (13/14756-0, 19/05937-7, 22/06634-0, 18/15472-9)
ESCALANTE, FELIX M.; DOS SANTOS, LEONARDO F.; MORENO, YECID; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; BOAVENTURA, THIAGO. Markovian Transparency Control of an Exoskeleton Robot. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 8, n. 2, p. 8-pg., . (19/05937-7, 21/09244-6, 18/15472-9, 22/06634-0)
NOPPENEY, VICTOR T.; BOAVENTURA, THIAGO; MEDEIROS, KLAUS; VAROTO, PAULO. A tutorial on a multi-mode identification procedure based on the complex-curve fitting method. JOURNAL OF VIBRATION AND CONTROL, . (18/15472-9, 19/10773-3)
OKLE, JAN; NOPPENEY, VICTOR TAMASSIA; BOAVENTURA, THIAGO. Certification of linear closed-loop controllers using the nu-gap metric and the generalized stability margin. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 7, . (18/15472-9, 19/10773-3)
NOPPENEY, VICTOR; BOAVENTURA, THIAGO; SIQUEIRA, ADRIANO. Task-space impedance control of a parallel Delta robot using dual quaternions and a neural network. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 43, n. 9, . (19/10773-3, 18/15472-9)
BERNARDINO TAMANAKA, GUSTAVO TERUO; AROCA, RAFAEL VIDAL; DE PAULA CAURIN, GLAUCO AUGUSTO; HOMEM, TPD; BIANCHI, RAD; DASILVA, BMF; CURVELO, CDF; PINTO, MF. Fault-tolerant architecture and implementation of a distributed control system using containers. 2022 LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS), 2022 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR), AND 2022 WORKSHOP ON ROBOTICS IN EDUCATION (WRE), v. N/A, p. 6-pg., . (13/07276-1, 17/01555-7, 18/15472-9)
LAHR, GUSTAVO J. G.; GARCIA, HENRIQUE B.; AJOUDANI, ARASH; BOAVENTURA, THIAGO; CAURIN, GLAUCO A. P.; IEEE. A hybrid model-based evolutionary optimization with passive boundaries for physical human-robot interaction. 2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022), v. N/A, p. 7-pg., . (18/15472-9, 13/07276-1)

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