Robust passivity-based dynamical systems for compliant motion adaptation

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

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
• Electronic ISSN: 1941-014X
• 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