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Robust passivity-based dynamical systems for compliant motion adaptation

Huang, Haohui; Guo, Yi; Yang, Genke; Chu, Jian; Chen, Xinwei; Li, Zhibin; Yang, Chenguang

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Authors

Haohui Huang

Yi Guo

Genke Yang

Jian Chu

Xinwei Chen

Zhibin Li



Abstract

Motivated by human compliant behaviors during interacting with unknown environments and how motions and impedance to are adapted skilfully complete a task, this article develops a motion planning scheme that is capable of generating a compliant trajectory online such that tracking desired contacting forces under a predefined motion task. First, an improved dynamical system (DS) is designed to generate an adaptive compliant scanning trajectory online from the original DS in terms of the contact forces and the desired scanning forces. Inspired by passivity analysis for the robot control system, a robust term is formulated to guarantee stability by considering the balance between environmental and robotic energy. Furthermore, we develop a state-constrained controller based on barrier Lyapunov function to track the compliant DS motion and to ensure safety during scanning for the patient. Finally, comparative simulations are conducted to validate the general compliant capability of the proposed framework. We also instantiate our methodology through a use case of liver ultrasound scanning to demonstrate the stable and dynamic force tracking performance.

Journal Article Type Article
Acceptance Date Apr 1, 2022
Online Publication Date Apr 27, 2022
Publication Date 2022-12
Deposit Date May 5, 2022
Publicly Available Date May 5, 2022
Journal IEEE/ASME Transactions on Mechatronics
Print ISSN 1083-4435
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 27
Issue 6
Pages 4819-4828
DOI https://doi.org/10.1109/tmech.2022.3166204
Keywords Electrical and Electronic Engineering; Computer Science Applications; Control and Systems Engineering; Physical robot-environment interaction; dynamical system; motion adaptation; laser tracker; passivity analysis
Public URL https://uwe-repository.worktribe.com/output/9457685

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This is the author’s accepted manuscript. The final published version is available here: https://ieeexplore.ieee.org/document/9763830 />
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