Optimal Sensor Placement of Variable Impedance Actuated Robots

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

doi:10.1109/SII.2019.8700432

Optimal Sensor Placement of Variable Impedance Actuated Robots

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

Department of Robotics and Mechatronics

Nazarbayev University

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

3 Citations (Scopus)

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
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	https://doi.org/10.1109/SII.2019.8700432
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

Conference

Conference	2019 IEEE/SICE International Symposium on System Integration, SII 2019
Country/Territory	France
City	Paris
Period	1/14/19 → 1/16/19

Funding

This work was supported by the grant ”Methods for Safe Human Robot Interaction with VIA Robots” from the Ministry of Education and Science of the Republic of Kazakhstan and by the Nazarbayev University Faculty Development Program grant ”Hardware and Software Based Methods for Safe Human-Robot Interaction with Variable Impedance Robots”.

ASJC Scopus subject areas

Atomic and Molecular Physics, and Optics
Electrical and Electronic Engineering

Access to Document

10.1109/SII.2019.8700432

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). Article 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 et al.
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 proceeding › Conference 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). doi: 10.1109/SII.2019.8700432

Rakhim, Bexultan ; Zhakatayev, Altay ; Adiyatov, Olzhas et al. / 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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Optimal Sensor Placement of Variable Impedance Actuated Robots

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