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Optimal control of elastic joints with variable damping

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, Straßburg, Frankreich.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal control of elastic joints with variable damping
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Özparpucu, Mehmet CanMehmet.Oezparpucu (at) dlr.deUNSPECIFIED
Haddadin, SamiUNSPECIFIEDUNSPECIFIED
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
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
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:08 Sep 2014 10:08
Last Modified:08 Sep 2014 10:08

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  • Optimal control of elastic joints with variable damping. (deposited 08 Sep 2014 10:08) [Currently Displayed]

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