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Özparpucu, Mehmet Can and Haddadin, Sami (2014) Optimal control of elastic joints with variable damping. In: Control Conference (ECC), 2014 European. Control Conference (ECC), 2014 European, 2014-06-24 - 2014-06-27, Straßburg, Frankreich. doi: 10.1109/ECC.2014.6862266.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/90221/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
| Title: | Optimal control of elastic joints with variable damping | ||||||||||||
| Authors: |
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| Date: | 27 June 2014 | ||||||||||||
| Journal or Publication Title: | Control Conference (ECC), 2014 European | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| DOI: | 10.1109/ECC.2014.6862266 | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Variable damping, Differential equations, Elastic joints,Optimal control, Switched systems | ||||||||||||
| Event Title: | Control Conference (ECC), 2014 European | ||||||||||||
| Event Location: | Straßburg, Frankreich | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Start Date: | 24 June 2014 | ||||||||||||
| Event End Date: | 27 June 2014 | ||||||||||||
| 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: | 08 Sep 2014 10:08 | ||||||||||||
| Last Modified: | 05 Jun 2024 08:12 |
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- Optimal control of elastic joints with variable damping. (deposited 08 Sep 2014 10:08) [Currently Displayed]
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