TY - GEN
T1 - Optimal control for maximizing link velocity of visco-elastic joints
AU - Ozparpucu, Mehmet Can
AU - Haddadin, Sami
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893764327&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696786
DO - 10.1109/IROS.2013.6696786
M3 - Conference contribution
AN - SCOPUS:84893764327
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3035
EP - 3042
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -