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Shiriaev, Anton
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Publications (10 of 78) Show all publications
Pchelkin, S. S., Shiriaev, A. S., Mettin, U., Freidovich, L. B., Paramonov, L. V. & Gusev, S. V. (2016). Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation. Autonomous Robots, 40(5), 849-865
Open this publication in new window or tab >>Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation
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2016 (English)In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 40, no 5, p. 849-865Article in journal (Refereed) Published
Abstract [en]

We consider a model of a 24-degree-of-freedom monkey robot that is supposed to perform a brachiation locomotion, i.e. to swing from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point, about which the robot swings, is a passive hinge. We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search procedure consisting on the following steps: (a) to introduce a parametrized family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) to formulate geometric equality constraints that are necessary to achieve a periodic locomotion; (c) to generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) to evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation, which allows us to incorporate computation of an approximate gradient of the cost function into the search algorithm significantly improving the computational efficiency.

Keywords
Dynamic robot locomotion, Underactuated robots, Trajectory generation, Virtual holonomic nstraints, Numerical optimization
National Category
Robotics
Identifiers
urn:nbn:se:umu:diva-120353 (URN)10.1007/s10514-015-9497-1 (DOI)000374253200005 ()
Available from: 2016-05-25 Created: 2016-05-16 Last updated: 2018-06-07Bibliographically approved
Pchelkin, S., Shiriaev, A. S., Freidovich, L., Mettin, U., Gusev, S. V., Kwon, W. & Paramonov, L. (2015). A dynamic human motion: coordination analysis. Biological Cybernetics, 109(1), 47-62
Open this publication in new window or tab >>A dynamic human motion: coordination analysis
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2015 (English)In: Biological Cybernetics, ISSN 0340-1200, E-ISSN 1432-0770, Vol. 109, no 1, p. 47-62Article in journal (Refereed) Published
Abstract [en]

This article is concerned with the generic structure of the motion coordination system resulting from the application of the method of virtual holonomic constraints (VHCs) to the problem of the generation and robust execution of a dynamic humanlike motion by a humanoid robot. The motion coordination developed using VHCs is based on a motion generator equation, which is a scalar nonlinear differential equation of second order. It can be considered equivalent in function to a central pattern generator in living organisms. The relative time evolution of the degrees of freedom of a humanoid robot during a typical motion are specified by a set of coordination functions that uniquely define the overall pattern of the motion. This is comparable to a hypothesis on the existence of motion patterns in biomechanics. A robust control is derived based on a transverse linearization along the configuration manifold defined by the coordination functions. It is shown that the derived coordination and control architecture possesses excellent robustness properties. The analysis is performed on an example of a real human motion recorded in test experiments.

Keywords
Motion coordination, Humanoid robots, Motion generators for finite-time behaviors, Underactuation, bital stabilization
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:umu:diva-100966 (URN)10.1007/s00422-014-0624-4 (DOI)000349405800004 ()25158624 (PubMedID)
Available from: 2015-03-18 Created: 2015-03-16 Last updated: 2018-06-07Bibliographically approved
Ortiz Morales, D., La Hera, P., Westerberg, S., Freidovich, L. & Shiriaev, A. (2015). Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators. IEEE Transactions on Human-Machine Systems, 45(2), 187-199
Open this publication in new window or tab >>Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators
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2015 (English)In: IEEE Transactions on Human-Machine Systems, ISSN 2168-2291, Vol. 45, no 2, p. 187-199Article in journal (Refereed) Published
Abstract [en]

We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies knowledge of motion planning and optimization techniques used in robotics. As an example, we consider the case of operating a forestry crane. To that end, we use motion data that has been recorded during standard operation with the help of sensors and a data acquisition unit. The data backs up the notion that operators work by performing repeatable patterns observed in the trajectories of the manipulator's joints. We show how this nominal behavior is computed, and consequently this allow us to present the following: 1) an analytical procedure to analyze motions, 2) how to represent the "performance" of the operator in a 2D plot, 3) an example of how to use this information to suggest customized control settings, and 4) some complementary ideas needed for improving efficiency through automation.

Keywords
forestry, human performance analysis, hydraulic manipulators, manual control
National Category
Robotics Control Engineering
Identifiers
urn:nbn:se:umu:diva-87595 (URN)10.1109/THMS.2014.2366873 (DOI)000351468500004 ()
Available from: 2014-04-04 Created: 2014-04-04 Last updated: 2018-06-08Bibliographically approved
Shiriaev, A. S., Freidovich, L. B. & Spong, M. W. (2014). Controlled invariants and trajectory planning for underactuated mechanical systems. IEEE Transactions on Automatic Control, 59(9), 2555-2561
Open this publication in new window or tab >>Controlled invariants and trajectory planning for underactuated mechanical systems
2014 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, no 9, p. 2555-2561Article in journal (Refereed) Published
Abstract [en]

We study the problem of motion planning for underactuated mechanical systems. The idea is to reduce complexity by imposing via feedback a sufficient number of invariants and then to compute a projection of the dynamics onto an induced invariant sub-manifold of the closed-loop system. The inspiration comes from two quite distant methods, namely the method of virtual holonomic constraints, originally invented for planning and orbital stabilization of gaits of walking machines, and the method of controlled Lagrangians, primarily invented as a nonlinear technique for stabilization of (relative) equilibria of controlled mechanical systems. Both of these techniques enforce the presence of particular invariants that can be described as level sets of conserved quantities induced in the closed-loop system. We link this structural feature of both methods to a procedure to transform a Lagrangian system with control inputs via a feedback action into a control-free Lagrangian system with a sufficient number of first integrals for the full state space or an invariant sub-manifold. In both cases, this transformation allows efficient (analytical) description of a new class of trajectories of forced mechanical systems appropriate for further orbital stabilization. For illustration purposes, we approach the challenging problem for a controlled mechanical system with two passive degrees of freedom: planning periodic (or bounded) forced upperhemisphere trajectories of the spherical pendulum on a puck. Another example of the technique is separately reported in [21].

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2014
Keywords
Controlled Lagrangians, feedback equivalence, motion and trajectory planning, spherical pendulum a puck, underactuated mechanical systems, virtual holonomic constraints
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Robotics
Identifiers
urn:nbn:se:umu:diva-95875 (URN)10.1109/TAC.2014.2308641 (DOI)000342924100028 ()
Available from: 2014-12-11 Created: 2014-11-06 Last updated: 2018-11-30Bibliographically approved
Ortiz Morales, D., Westerberg, S., La Hera, P., Mettin, U., Freidovich, L. & Shiriaev, A. (2014). Increasing the level of automation in the forestry logging process with crane trajectory planning and control. Journal of Field Robotics, 31(3), 343-363
Open this publication in new window or tab >>Increasing the level of automation in the forestry logging process with crane trajectory planning and control
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2014 (English)In: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol. 31, no 3, p. 343-363Article in journal (Refereed) Published
Abstract [en]

Working with forestry machines requires great amount of training to be sufficiently skilledto operate forestry cranes. In view of this, introducing automated motions, as those seenin robotic arms, is ambitioned by this industry for shortening the amount of training timeand make the work of the operator easier. Motivated by this fact, we have developedtwo experimental platforms for testing control systems and motion planning algorithms inreal-time. They correspond to a laboratory setup and a commercial version of a hydraulicmanipulator used in forwarder machines. The aim of this article is to present the results ofthis development by providing an overview of our trajectory planning algorithm and motioncontrol method, with a subsequent view of the experimental results. For motion control,we design feedback controllers that are able to track reference trajectories based on sensormeasurements. Likewise, we provide arguments to design controllers in open-loop for thecase of machines lacking of sensing devices. Relying on the tracking efficiency of thesecontrollers, we design time efficient reference trajectories of motions that correspond tologging tasks. To demonstrate performance, we provide an overview of an extensive testingdone on these machines.

Place, publisher, year, edition, pages
Wiley-Blackwell, 2014
Keywords
tree harvesting systems; robotic manipulators; excavator; industrialization
National Category
Robotics Control Engineering
Identifiers
urn:nbn:se:umu:diva-86214 (URN)10.1002/rob.21496 (DOI)000333934200001 ()
Available from: 2014-04-04 Created: 2014-02-20 Last updated: 2018-06-08Bibliographically approved
Andersson, A., Robertsson, A., Shiriaev, A. S., Freidovich, L. B. & Johansson, R. (2014). Robustness of the Moore-Greitzer Compressor Model's Surge Subsystem with New Dynamic Output Feedback Controllers. In: IFAC PAPERSONLINE: . Paper presented at 19th World Congress of the International-Federation-of-Automatic-Control (IFAC), AUG 24-29, 2014, Cape Town, SOUTH AFRICA (pp. 3690-3695). Elsevier, 47(3)
Open this publication in new window or tab >>Robustness of the Moore-Greitzer Compressor Model's Surge Subsystem with New Dynamic Output Feedback Controllers
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2014 (English)In: IFAC PAPERSONLINE, Elsevier, 2014, Vol. 47, no 3, p. 3690-3695Conference paper, Published paper (Refereed)
Abstract [en]

This work presents an extension of a design procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. In this work we used an axial gas compressor model described by the 3-state Moore-Greitzer compressor model (MG) that has some challenges for output feedback control design (Planovsky and Nikolaev 1990), (Rubanova 2013). The more general constraints for the investigation of the robustness with respect to parametric uncertainties and measurement noise are shown.

Place, publisher, year, edition, pages
Elsevier, 2014
Series
IFAC PAPERSONLINE, ISSN 2405-8963
Keywords
Dynamic output feedback, Compressors, Nonlinear control systems, Stability robustness, Constraints, Nonlinearity, Lyapunov stability
National Category
Control Engineering
Identifiers
urn:nbn:se:umu:diva-142768 (URN)000391107600112 ()
Conference
19th World Congress of the International-Federation-of-Automatic-Control (IFAC), AUG 24-29, 2014, Cape Town, SOUTH AFRICA
Note

Issue 3

Available from: 2017-12-15 Created: 2017-12-15 Last updated: 2018-06-09Bibliographically approved
Shiriaev, A. S., Freidovich, L. & Spong, M. W. (2013). A remark on Controlled Lagrangian approach. European Journal of Control, 19(6), 438-444
Open this publication in new window or tab >>A remark on Controlled Lagrangian approach
2013 (English)In: European Journal of Control, ISSN 0947-3580, E-ISSN 1435-5671, Vol. 19, no 6, p. 438-444Article in journal (Refereed) Published
Abstract [en]

A new approach to trajectory planning for underactuated mechanical systems is presented and discussed based on analysis of feasible behaviors of a standard 2-DOF benchmark example - the cart-pendulum system. Following the Controlled Lagrangians approach of Bloch et al. (2000) [7], we present and re-establish known conditions and forms of feedback control laws for this example, which are leading to an equivalent completely integrable closed-loop Euler-Lagrange system; and then extend them. As shown, full integrability and, in particular, the presence of a linear in velocities first integral of dynamics plays the key role in an elegant new procedure for trajectory planning.

Place, publisher, year, edition, pages
Lavoisier, 2013
Keywords
Underactuated mechanical systems, Cart-pendulum system, Controlled Lagrangians, Virtual holonomic constraints, Motion and trajectory planning, Feedback equivalence
National Category
Engineering and Technology
Identifiers
urn:nbn:se:umu:diva-85801 (URN)10.1016/j.ejcon.2013.09.004 (DOI)000329274500002 ()
Available from: 2014-02-12 Created: 2014-02-10 Last updated: 2018-06-08Bibliographically approved
Rubanova, A., Robertsson, A., Shiriaev, A. S., Freidovich, L. B. & Johansson, R. (2013). Analytic parameterization of stabilizing controllers for the surge subsystem of the Moore-Greitzer compressor model. In: American Control Conference (ACC), 2013: . Paper presented at 2013 1st American Control Conference, ACC 2013, 17 June 2013 through 19 June 2013, Washington, DC (pp. 5257-5262).
Open this publication in new window or tab >>Analytic parameterization of stabilizing controllers for the surge subsystem of the Moore-Greitzer compressor model
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2013 (English)In: American Control Conference (ACC), 2013, 2013, p. 5257-5262Conference paper, Published paper (Refereed)
Abstract [en]

This paper is based on a new procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. The new procedure is motivated by the challenges of output feedback control design for the 3-state Moore-Greitzer compressor model. First, we use conditions for stability of a transformed system and the associated matching conditions to find the data of the stabilizing controllers for the surge subsystem. Second, using the set of stabilizing controllers satisfying the given constraints for the closed-loop system with the dynamic output feedback controller we made optimization over the parameter set. We present the data of the stabilizing controllers and the new constraints for the corresponding parameters. The contributions in this paper are simplified conditions for the synthesis and optimization over the control parameter set.

Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Physical Sciences
Identifiers
urn:nbn:se:umu:diva-83215 (URN)978-1-4799-0177-7 (ISBN)
Conference
2013 1st American Control Conference, ACC 2013, 17 June 2013 through 19 June 2013, Washington, DC
Available from: 2013-12-02 Created: 2013-11-21 Last updated: 2018-06-08Bibliographically approved
Shiriaev, A. S., Freidovich, L. B. & Spong, M. W. (2013). Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems. In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC): . Paper presented at 52nd IEEE Annual Conference on Decision and Control (CDC), DEC 10-13, 2013, Florence, ITALY (pp. 1628-1633). IEEE
Open this publication in new window or tab >>Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE, 2013, p. 1628-1633Conference paper, Published paper (Refereed)
Abstract [en]

We study the problem of motion planning for underactuated mechanical systems. The idea is to reduce complexity by imposing via feedback a sufficient number of invariants and then compute a projection of the dynamics onto an induced invariant sub-manifold of the closed-loop system. The inspiration comes from two quite distant methods, namely the method of virtual holonomic constraints, originally invented for planning and orbital stabilization of gaits of walking machines, and the method of controlled Lagrangians, primarily invented as a nonlinear technique for stabilization of (relative) equilibria of controlled mechanical systems. Both of these techniques enforce the presence of particular invariants that can be described as level sets of conserved quantities induced in the closed-loop system. We link this structural feature of both methods to a procedure to transform a Lagrangian system via a feedback action into a new dynamical system with a sufficient number of first integrals for the full state space or an invariant sub-manifold. In both cases, this transformation allows efficient (analytical) description of a new class of trajectories of forced mechanical systems appropriate for further orbital stabilization. The contribution is illustrated with a spherical pendulum example that is discussed in detail.

Place, publisher, year, edition, pages
IEEE, 2013
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Robotics
Identifiers
urn:nbn:se:umu:diva-164216 (URN)10.1109/CDC.2013.6760115 (DOI)000352223501139 ()978-1-4673-5717-3 (ISBN)
Conference
52nd IEEE Annual Conference on Decision and Control (CDC), DEC 10-13, 2013, Florence, ITALY
Available from: 2019-10-16 Created: 2019-10-16 Last updated: 2019-10-16Bibliographically approved
Pchelkin, S. S., Shiriaev, A., Robertsson, A. & Freidovich, L. (2013). Integrated Time-Optimal Trajectory Planning and Control Design for Industrial Robot Manipulator. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, JAPAN, NOV 03-08, 2013 (pp. 2521-2526). Tokyo, JAPAN
Open this publication in new window or tab >>Integrated Time-Optimal Trajectory Planning and Control Design for Industrial Robot Manipulator
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, JAPAN, 2013, p. 2521-2526Conference paper, Published paper (Refereed)
Abstract [en]

We consider planning and implementation of fast motions for industrial manipulators constrained to a given geometric path. With such a problem formulation, which is quite reasonable for many standard operation scenarios, it is intuitively clear that a feedback controller should be designed to achieve orbital stabilization of a time-optimal trajectory instead asymptotic. We propose an algorithm to convert an asymptotically stabilizing controller into an orbitally stabilizing one and check achievable performance in simulations and, more importantly, in experiments performed on a standard industrial robot ABB IRB 140 with the IRC5-system extended with an open control interface. It is verified that the proposed re-design allows significantly reduced deviations of the actual trajectories from the desired one at high speeds not only for a chosen base feedback design but also outperforming the state-of-the-art commercial implementation offered by ABB Robotics.

Place, publisher, year, edition, pages
Tokyo, JAPAN: , 2013
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
Keywords
Motion and trajectory planning with constraints, Orbital stabilization, Time optimal control, Industrial manipulators
National Category
Control Engineering Robotics
Identifiers
urn:nbn:se:umu:diva-88097 (URN)10.1109/IROS.2013.6696711 (DOI)000331367402099 ()978-1-4673-6358-7 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, JAPAN, NOV 03-08, 2013
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2019-06-19Bibliographically approved
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