umu.sePublications
Change search
Link to record
Permanent link

Direct link
BETA
Mettin, Uwe
Publications (10 of 31) Show all publications
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
Show others...
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., 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
Show others...
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
La Hera, P., Shiriaev, A. S., Freidovich, L. B., Mettin, U. & Gusev, S. V. (2013). Stable walking gaits for a three-link planar biped robot with one actuator. IEEE Transactions on robotics, 29(3), 589-601
Open this publication in new window or tab >>Stable walking gaits for a three-link planar biped robot with one actuator
Show others...
2013 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, IEEE transactions on robotics, Vol. 29, no 3, p. 589-601Article in journal (Refereed) Published
Abstract [en]

We consider a benchmark example of a three-link planar biped walker with torso, which is actuated in between the legs. The torso is thought to be kept upright by two identical torsional springs. The mathematical model reflects a three-degree-of-freedom mechanical system with impulse effects, which describe the impacts of the swing leg with the ground, and the aim is to induce stable limit-cycle walking on level ground. The main contribution is a novel systematic trajectory planning procedure for solving the problem of gait synthesis. The key idea is to find a system of ordinary differential equations for the functions describing a synchronization pattern for the time evolution of the generalized coordinates along a periodic motion. These functions, which are known as virtual holonomic constraints, are also used to compute an impulsive linear system that approximates the time evolution of the subset of coordinates that are transverse to the orbit of the continuous part of the periodic solution. This auxiliary system, which is known as transverse linearization, is used to design a nonlinear exponentially orbitally stabilizing feedback controller. The performance of the closed-loop system and its robustness with respect to various perturbations and uncertainties are illustrated via numerical simulations.

Keywords
Biped robots, holonomic servoconstraints, limit-cycle walking, orbital stabilization, trajectory planning with dynamic constraints, transverse linearization, underactuated mechanical systems, virtual holonomic constraints
National Category
Robotics Veterinary Science
Identifiers
urn:nbn:se:umu:diva-39717 (URN)10.1109/TRO.2013.2239551 (DOI)000320137200001 ()
Funder
Swedish Research Council, 2008-4369
Note

Funding Agency, Grant Number:

Russian Federal Agency for Science and Innovation, 02.740.11.505

Russian Federal Target Program "Research & Development in Priority Areas", 11.519.11.4007

Norwegian Research Council under KMB grant Next Generation Robotics for Norwegian Industry

Norwegian Research Council under FRIPRO Grant, 214525/F20

Russian Foundation for Basic Research, 12-01-00808

Available from: 2011-02-04 Created: 2011-02-04 Last updated: 2018-06-08Bibliographically approved
Ortíz Morales, D., Westerberg, S., La Hera, P. X., Mettin, U., Freidovich, L. & Shiriaev, A. S. (2011). Open-loop control experiments on driver assistance for crane forestry machines. In: 2011 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation, May 9-13 2011, Shanghai, China (pp. 1797-1802). IEEE conference proceedings
Open this publication in new window or tab >>Open-loop control experiments on driver assistance for crane forestry machines
Show others...
2011 (English)In: 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2011, p. 1797-1802Conference paper, Published paper (Refereed)
Abstract [en]

A short term goal in the forest industry is semi-automation of existing machines for the tasks of logging and harvesting. One way to assist drivers is to provide a set of predefined trajectories that can be used repeatedly in the process. In recent years much effort has been directed to the design of control strategies and task planning as part of this solution. However, commercialization of such automatic schemes requires the installation of various sensing devices, computers and most of all a redesign of the machine itself, which is currently undesired by manufacturers. Here we present an approach of implementing predefined trajectories in an open-loop fashion, which avoids the complexity of sensor and computer integration. The experimental results are carried out on a commercial hydraulic crane to demonstrate that this solution is feasible in practice.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keywords
Trajectory generation, open-loop control, forestry machines
National Category
Robotics
Identifiers
urn:nbn:se:umu:diva-51897 (URN)10.1109/ICRA.2011.5980266 (DOI)000324383401004 ()978-1-61284-385-8 (ISBN)978-1-61284-386-5 (ISBN)
Conference
IEEE International Conference on Robotics and Automation, May 9-13 2011, Shanghai, China
Available from: 2012-02-23 Created: 2012-02-03 Last updated: 2018-06-08Bibliographically approved
Pchelkin, S. S., Shiriaev, A., Mettin, U., Freidovich, L., Aoyama, T., Lu, Z. & Fukuda, T. (2011). Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, SEP 25-30, 2011, San Francisco, CA (pp. 5094-5099). IEEE
Open this publication in new window or tab >>Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot
Show others...
2011 (English)In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2011, p. 5094-5099Conference paper, Published paper (Refereed)
Abstract [en]

We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging 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: (a) introduce a family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) formulate geometric equality constraints that are necessary for periodic locomotion; (c) generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) 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 the gradient of the cost function into the search algorithm.

Place, publisher, year, edition, pages
IEEE, 2011
Keywords
Dynamic Robot Locomotion, Underactuated Robots, Trajectory Generation, Virtual Holonomic Constraints
National Category
Control Engineering
Identifiers
urn:nbn:se:umu:diva-88102 (URN)10.1109/IROS.2011.6094789 (DOI)000297477505069 ()978-1-61284-454-1 (ISBN)978-1-61284-456-5 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, SEP 25-30, 2011, San Francisco, CA
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2019-04-16Bibliographically approved
Mettin, U., Shiriaev, A., Bätz, G. & Wollherr, D. (2010). Ball dribbling with an underactuated continuous-time control phase. In: 2010 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, MAY 03-08, 2010 (pp. 4669-4674).
Open this publication in new window or tab >>Ball dribbling with an underactuated continuous-time control phase
2010 (English)In: 2010 IEEE International Conference on Robotics and Automation (ICRA), 2010, p. 4669-4674Conference paper, Published paper (Refereed)
Abstract [en]

Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motions of the ball. This task is nontrivial due to the hybrid (discrete-continuous) nature of the corresponding dynamics. The ball can be only controlled during ball-manipulator contact and moves freely otherwise. We propose a manipulator equipped with a spring that gets compressed when the ball bounces against it. Hence, we can have continuous-time control over this underactuated Ball-Spring-Manipulator system until the spring releases its accumulated energy back to the ball. This paper illustrates the motion-planning procedure for a ball-dribbling cycle with such an underactutated continuous-time control phase. An orbital stabilizing controller is designed based on a transverse linearization along a desired periodic motion. Numerical simulations show the performance of the control system in preparation to experimental studies.

Keywords
Underactuated Mechanical Systems, Motion Planning, Orbital Stabilization, Virtual Holonomic Constraints
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:umu:diva-30250 (URN)10.1109/ROBOT.2010.5509901 (DOI)000284150005021 ()
Conference
IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, MAY 03-08, 2010
Note

The paper is submitted.

Available from: 2009-12-14 Created: 2009-12-14 Last updated: 2018-06-08Bibliographically approved
La Hera, P. M., Shiriaev, A. S., Freidovich, L. B. & Mettin, U. (2010). Gait synthesis for a three-link planar biped walker with one actuator. In: IEEE International Conference on Robotics and Automation (ICRA), 2010. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010 (pp. 1715-1720).
Open this publication in new window or tab >>Gait synthesis for a three-link planar biped walker with one actuator
2010 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2010, 2010, p. 1715-1720Conference paper, Published paper (Refereed)
Abstract [en]

We consider a 3-link planar walker with two legs and an upper body. An actuator is introduced between the legs, and the torso is kept upright by torsional springs. The model is a 3-DOF impulsive mechanical system, and the aim is to induce stable limit-cycle walking in level ground. To solve the problem, the ideas of the virtual holonomic constraints approach are explored, used and extended. The contribution is a novel systematic motion planning procedure for solving the problem of gait synthesis, which is challenging for non-feedback linearizable mechanical systems with two or more passive degrees of freedom. For a preplanned gait we compute an impulsive linear system that approximates dynamics transversal to the periodic solution. This linear system is used for the design of a stabilizing feedback controller. Results of numerical simulations are presented to illustrate the performance of the closed loop system.

Series
Proceedings / IEEE international conference on robotics and automation, ISSN 1050-4729
Keywords
Biped robots, virtual holonomic constraints, motion planning, orbital stabilization of periodic trajectories
Identifiers
urn:nbn:se:umu:diva-38546 (URN)10.1109/ROBOT.2010.5509905 (DOI)000284150005025 ()978-1-4244-5038-1 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010
Available from: 2010-12-17 Created: 2010-12-17 Last updated: 2018-06-08Bibliographically approved
Westerberg, S., Mettin, U. & Shiriaev, A. (2010). Motion planning and control of an underactuated 3DOF helicopter. In: Proceedings of the  IEEE/RSJ Intelligent Robots and Systems (IROS): . Paper presented at International Conference on Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ, Taipei, Taiwan (pp. 3759-3764). New York: IEEE conference proceedings
Open this publication in new window or tab >>Motion planning and control of an underactuated 3DOF helicopter
2010 (English)In: Proceedings of the  IEEE/RSJ Intelligent Robots and Systems (IROS), New York: IEEE conference proceedings, 2010, p. 3759-3764Conference paper, Published paper (Refereed)
Abstract [en]

We consider trajectory planning for an underactuated 3DOF helicopter, using the virtual holonomic constraint approach. First we choose constraint functions that describe the configuration variables along a desired motion in terms of some independent parametrization variable. This lets us describe the closed-loop system by some reduced order dynamics, the solution of which gives a feasible trajectory for the desired motion. By using the method of transverse linearization for controller design, we achieve exponential orbital stability to a desired trajectory. Numerical simulations confirm this property and show good convergence to a desired periodic motion when initialized from a resting state.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2010
Series
Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), ISSN 2153-0858
Keywords
motion planning and control, virtual holonomic constraints, reduced dynamics
National Category
Computer Sciences Robotics
Research subject
Automatic Control
Identifiers
urn:nbn:se:umu:diva-38708 (URN)10.1109/IROS.2010.5652290 (DOI)000287672003040 ()8-1-4244-6674-0 (ISBN)978-1-4244-6674-0 (ISBN)
Conference
International Conference on Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ, Taipei, Taiwan
Available from: 2011-01-03 Created: 2010-12-22 Last updated: 2018-06-08Bibliographically approved
Pchelkin, S., Shiriaev, A., Freidovich, L., Mettin, U., Gusev, S. & Kwon, W. (2010). Natural sit-down and chair-rise motions for a humanoid robot. Paper presented at 49th IEEE conference on decision and control cdc 2010, December 15-17 2010, Atlanta, Georgia, USA.
Open this publication in new window or tab >>Natural sit-down and chair-rise motions for a humanoid robot
Show others...
2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We discuss a constructive procedure for planning human-like motions of humanoid robots on finite-time intervals. Besides complying with various constraints present in the robot dynamics, it allows us to reflect certain features of recorded and analyzed motions of a test person, even though the dimensions, the mass distribution, and the actuation of the robot are different. So, the steps in motion planning are complemented by a novel algorithm for control design to ensure contraction of the orbits of various perturbed closed-loop motions to the orbit of the prescribed target trajectory.

National Category
Robotics
Identifiers
urn:nbn:se:umu:diva-50066 (URN)10.1109/CDC.2010.5717358 (DOI)000295049101062 ()
Conference
49th IEEE conference on decision and control cdc 2010, December 15-17 2010, Atlanta, Georgia, USA
Available from: 2011-11-24 Created: 2011-11-24 Last updated: 2018-06-08Bibliographically approved
Mettin, U., Shiriaev, A., Freidovich, L. B. & Sampei, M. (2010). Optimal ball pitching with an underactuated model of a human arm. Paper presented at ICRA 2010, Anchorage, USA, May 2010. New York: IEEE
Open this publication in new window or tab >>Optimal ball pitching with an underactuated model of a human arm
2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

A new approach for solving an optimal motion planning problem for a simplified 2-degrees-of-freedom model of a human arm is proposed. The motion of interest resembles ball pitching. The model of a planar two-link robot is used with actuation only at the shoulder joint and a passive spring at the elbow joint representing the stiffness of the arm. The goal is formulated as finding a trajectory and the associated torque of the active joint that maximizes the velocity of the end effector in horizontal direction at the moment of crossing a vertical ball-release line. The basic idea is to search for an optimal motion parametrized by the horizontal displacement of the end-effector from the start point to the release point. The suggested procedure leads to analytical expressions for the coefficients of a nonlinear differential equation that governs the geometric relation between the links along an optimal motion. The motion planning task is reformulated to a finite-dimensional search for the corresponding initial conditions.

Place, publisher, year, edition, pages
New York: IEEE, 2010
Series
Proceedings / IEEE international conference on robotics and automation, ISSN 1050-4729
Keywords
Underactuated Mechanical Systems, Optimal Control, Motion Planning
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:umu:diva-30251 (URN)10.1109/ROBOT.2010.5509879 (DOI)000284150004153 ()978-1-4244-5038-1 (ISBN)
Conference
ICRA 2010, Anchorage, USA, May 2010
Available from: 2009-12-14 Created: 2009-12-14 Last updated: 2018-06-08Bibliographically approved
Organisations

Search in DiVA

Show all publications