Braun, D. J. and Petit, Florian and Huber, Felix and Haddadin, Sami and van der Smagt, Patrick and Albu-Schäffer, Alin Olimpiu and Vijayakumar, Sethu (2012) Optimal Torque and Stiffness Control in Compliantly Actuated Robots. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2012-10-07 - 2012-10-12, Vilamoura, Portugal. doi: 10.1109/iros.2012.6385991.
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Abstract
Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and passive impedance (stiffness and/or damping) simultaneously and independently. Here, we propose a framework for simultaneous optimisation of torque and impedance (stiffness) profiles in order to optimise task performance, tuned to the complex hardware and incorporating real-world constraints. Simulation and hardware experiments validate the viability of this approach to complex, state dependent constraints and demonstrate task performance benefits of optimal temporal impedance modulation.
Item URL in elib: | https://elib.dlr.de/80631/ | ||||||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||||||||||||||
Title: | Optimal Torque and Stiffness Control in Compliantly Actuated Robots | ||||||||||||||||||||||||||||||||
Authors: |
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Date: | 2012 | ||||||||||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/iros.2012.6385991 | ||||||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||||||
Keywords: | Variable-stiffness actuation, physical constraints, optimal control | ||||||||||||||||||||||||||||||||
Event Title: | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||||||
Event Location: | Vilamoura, Portugal | ||||||||||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||||||||||
Event Start Date: | 7 October 2012 | ||||||||||||||||||||||||||||||||
Event End Date: | 12 October 2012 | ||||||||||||||||||||||||||||||||
Organizer: | IEEE/RSJ | ||||||||||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||||||
DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik (old) | ||||||||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||||||||||||||||||||||
Deposited By: | Parusel, Sven | ||||||||||||||||||||||||||||||||
Deposited On: | 15 Jan 2013 16:10 | ||||||||||||||||||||||||||||||||
Last Modified: | 04 Feb 2025 09:25 |
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