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Optimal control for maximizing link velocity of visco-elastic joints

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, Tokyo, Japan.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal control for maximizing link velocity of visco-elastic joints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Özparpucu, Mehmet CanDLR-RMCUNSPECIFIED
Haddadin, SamiDLR-RMCUNSPECIFIED
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
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
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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 Feb 2017 19:20

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