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Özparpucu, Mehmet Can und Haddadin, Sami (2014) Optimal control of elastic joints with variable damping. In: Control Conference (ECC), 2014 European. Control Conference (ECC), 2014 European, Straßburg, Frankreich. doi: 10.1109/ECC.2014.6862266.
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Kurzfassung
Viscoelastic joints with adjustable physical impedance have recently become very popular in robotics research. Making use of the energy stored in elastic elements and changing simultaneously their elastic properties, performance of these joints are shown to be substantially increased compared to their rigid counterparts of the same size. After our recent results on how to optimally alter a joint's elastic property to maximize its energy, we focus in this paper on elastic joints with controllable damping. In particular, we show the existence of optimal switching patterns, which follow a physical rule in terms of the obtained potential and kinetic energy similar to joints with adjustable elasticity. This insight complements our existing results and contributes to further understanding of elastic robot control.
| elib-URL des Eintrags: | https://elib.dlr.de/90221/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
| Titel: | Optimal control of elastic joints with variable damping | ||||||||||||
| Autoren: |
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| Datum: | 27 Juni 2014 | ||||||||||||
| Erschienen in: | Control Conference (ECC), 2014 European | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Nein | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Nein | ||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||
| DOI: | 10.1109/ECC.2014.6862266 | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Variable damping, Differential equations, Elastic joints,Optimal control, Switched systems | ||||||||||||
| Veranstaltungstitel: | Control Conference (ECC), 2014 European | ||||||||||||
| Veranstaltungsort: | Straßburg, Frankreich | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| 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: | 08 Sep 2014 10:08 | ||||||||||||
| Letzte Änderung: | 21 Jul 2023 11:41 |
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- Optimal control of elastic joints with variable damping. (deposited 08 Sep 2014 10:08) [Gegenwärtig angezeigt]
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