Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles (Review Article) Annual Reviews in Control Year : 2023

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Abstract

So-called robot-object Lagrangian systems consist of a class of nonsmooth underactuated complementarity Lagrangian systems, with a specific structure: an "object" and a "robot". Only the robot is actuated. The object dynamics can thus be controlled only through the action of the contact Lagrange multipliers, which represent the interaction forces between the robot and the object. Juggling, walking, running, hopping machines, robotic systems that manipulate objects, tapping, pushing systems, kinematic chains with joint clearance, crawling, climbing robots, some cable-driven manipulators, and some circuits with set-valued nonsmooth components, belong this class. This article aims at presenting their main features, then many application examples which belong to the robot-object class, then reviewing the main tools and control strategies which have been proposed in the Automatic Control and in the Robotics literature. Some comments and open issues conclude the article.
Fichier principal
Vignette du fichier
ARC-2023.pdf (942.61 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-04344731 , version 1 (14-12-2023)
hal-04344731 , version 2 (16-01-2024)

Licence

Identifiers

Cite

Bernard Brogliato. Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives. Annual Reviews in Control, 2023, 55, pp.297-337. ⟨10.1016/j.arcontrol.2022.12.002⟩. ⟨hal-04344731v2⟩
71 View
67 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More