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dc.contributor.authorLiu, Pengcheng
dc.contributor.authorNeumann, Gerhard
dc.contributor.authorFu, Qinbing
dc.contributor.authorPearson, Simon
dc.contributor.authorYu, Hongnian
dc.date.accessioned2019-01-24T14:29:44Z
dc.date.available2019-01-24T14:29:44Z
dc.date.issued2019-01-07
dc.identifier.citationLiu, P., Neumann, G., Fu, Q., Pearson, S. and Yu, H. (2018) 'Energy-Efficient Design and Control of a Vibro-Driven Robot', In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Madrid, Spain. (pp. 1464-1469). IEEE.en_US
dc.identifier.urihttp://hdl.handle.net/10369/10228
dc.descriptionPaper published in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), available at https://doi.org/10.1109/IROS.2018.8594322en_US
dc.description.abstractVibro-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 efficacy. 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 which for the 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.en_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);
dc.subjectAutonomous robotsen_US
dc.subjectEnergy-efficient controlen_US
dc.subjectMotion generationen_US
dc.titleEnergy-Efficient Design and Control of a Vibro-Driven Roboten_US
dc.typeConference paperen_US
dc.identifier.doihttps://doi.org/10.1109/IROS.2018.8594322
dcterms.dateAccepted2018
rioxxterms.versionAMen_US


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