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Özparpucu, Mehmet Can and 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/87335/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
| Title: | Optimal control for maximizing link velocity of visco-elastic joints | ||||||||||||
| Authors: |
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| Date: | November 2013 | ||||||||||||
| Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| DOI: | 10.1109/IROS.2013.6696786 | ||||||||||||
| Series Name: | Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Optimal Control, Mechanical Damping, Performance | ||||||||||||
| Event Title: | Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | ||||||||||||
| Event Location: | Tokyo, Japan | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Start Date: | 3 November 2013 | ||||||||||||
| Event End Date: | 7 November 2013 | ||||||||||||
| 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 - Terrestrial Assistance Robotics (old) | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||
| Deposited By: | Özparpucu, Mehmet Can | ||||||||||||
| Deposited On: | 09 Jan 2014 14:01 | ||||||||||||
| Last Modified: | 09 Jul 2024 14:51 |
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