### 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 language | English |
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Title of host publication | Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 |

Publisher | Institute of Electrical and Electronics Engineers Inc. |

Pages | 141-146 |

Number of pages | 6 |

ISBN (Electronic) | 9781538636152 |

DOIs | |

Publication status | Published - Apr 25 2019 |

Event | 2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France Duration: Jan 14 2019 → Jan 16 2019 |

### Publication series

Name | Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 |
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### Conference

Conference | 2019 IEEE/SICE International Symposium on System Integration, SII 2019 |
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Country | France |

City | Paris |

Period | 1/14/19 → 1/16/19 |

### Fingerprint

### ASJC Scopus subject areas

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

### Cite this

*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.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*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

}

TY - GEN

T1 - Optimal Sensor Placement of Variable Impedance Actuated Robots

AU - Rakhim, Bexultan

AU - Zhakatayev, Altay

AU - Adiyatov, Olzhas

AU - Varol, Huseyin Atakan

PY - 2019/4/25

Y1 - 2019/4/25

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85065638102&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85065638102&partnerID=8YFLogxK

U2 - 10.1109/SII.2019.8700432

DO - 10.1109/SII.2019.8700432

M3 - Conference contribution

T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

SP - 141

EP - 146

BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

PB - Institute of Electrical and Electronics Engineers Inc.

ER -