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Özparpucu, Mehmet Can und Haddadin, Sami (2013) Optimal control for maximizing link velocity of visco-elastic joints. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013-11-03 - 2013-11-07, Tokyo, Japan. doi: 10.1109/IROS.2013.6696786.
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Kurzfassung
Designing intrinsically elastic robots recently attracted significant attention. Inspired by the elasticity in biological muscles, these designs aim at enabling robots to imitate human or animal motions during various tasks such as hopping, running, etc. In particular, reaching peak velocities, using the stored energy in the according elasticities, is of great interest. Applying optimal control theory, we investigate the problem of maximizing link velocity for visco-elastic joints. The main contribution of the paper is thus isolating the effects of mechanical joint damping on the optimal control policy.
| elib-URL des Eintrags: | https://elib.dlr.de/87335/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
| Titel: | Optimal control for maximizing link velocity of visco-elastic joints | ||||||||||||
| Autoren: |
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| Datum: | November 2013 | ||||||||||||
| Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Nein | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Nein | ||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||
| DOI: | 10.1109/IROS.2013.6696786 | ||||||||||||
| Name der Reihe: | Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Optimal Control, Mechanical Damping, Performance | ||||||||||||
| Veranstaltungstitel: | Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | ||||||||||||
| Veranstaltungsort: | Tokyo, Japan | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| Veranstaltungsbeginn: | 3 November 2013 | ||||||||||||
| Veranstaltungsende: | 7 November 2013 | ||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||
| Hinterlegt von: | Özparpucu, Mehmet Can | ||||||||||||
| Hinterlegt am: | 09 Jan 2014 14:01 | ||||||||||||
| Letzte Änderung: | 09 Jul 2024 14:51 |
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