Optimal Sensor Placement of Variable Impedance Actuated Robots

Bexultan Rakhim, Altay Zhakatayev, Olzhas Adiyatov, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we present an optimal sensor placement framework for variable impedance actuated (VIA) robots. Traditionally, sensors are placed on robotic systems to ensure direct measurement of all states. VIA robots have high number of actuators to regulate stiffness, damping and position independently. Therefore, direct measurement of all states requires a high number of sensors increasing the cost, weight and probability of hardware faults. Measuring a subset of states and estimating the rest might be a solution for this problem. However, selecting the subset of states to measure is not straightforward. To tackle this problem, we formulated an optimization problem using the Gramian based observability matrix. The observability of the system with different subsets of sensors is measured for given trajectories and the subset of sensors with the best observability measure is selected. We demonstrated the efficacy of our sensor selection approach in simulation experiments conducted with two variable stiffness actuated robots.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages141-146
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period1/14/191/16/19

Fingerprint

robots
impedance
Robots
set theory
sensors
Sensors
Observability
stiffness
Stiffness
robotics
Set theory
hardware
Robotics
estimating
Actuators
Damping
actuators
damping
Trajectories
trajectories

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

Cite this

Rakhim, B., Zhakatayev, A., Adiyatov, O., & Varol, H. A. (2019). Optimal Sensor Placement of Variable Impedance Actuated Robots. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 141-146). [8700432] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700432

Optimal Sensor Placement of Variable Impedance Actuated Robots. / Rakhim, Bexultan; Zhakatayev, Altay; Adiyatov, Olzhas; Varol, Huseyin Atakan.

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 141-146 8700432 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rakhim, B, Zhakatayev, A, Adiyatov, O & Varol, HA 2019, Optimal Sensor Placement of Variable Impedance Actuated Robots. in Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700432, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 141-146, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 1/14/19. https://doi.org/10.1109/SII.2019.8700432
Rakhim B, Zhakatayev A, Adiyatov O, Varol HA. Optimal Sensor Placement of Variable Impedance Actuated Robots. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 141-146. 8700432. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). https://doi.org/10.1109/SII.2019.8700432
Rakhim, Bexultan ; Zhakatayev, Altay ; Adiyatov, Olzhas ; Varol, Huseyin Atakan. / Optimal Sensor Placement of Variable Impedance Actuated Robots. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 141-146 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).
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