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Title:

Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints

Document type:
Zeitschriftenaufsatz
Author(s):
Braun, David J.; Petit, Florian; Huber, Felix; Haddadin, Sami; van der Smagt, Patrick; Albu-Schäffer, Alin; Vijayakumar, Sethu
Abstract:
Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and impedance (stiffness and/or damping) simultaneously, continuously, and independently. These actuators are, however, nonlinear and assert numerous constraints, e.g., range, rate, and effort limits on the dynamics. Finding a contr...     »
Keywords:
actuators; humanoid robots; optimal control; optimisation; actuation constraints; anthropomorphic robots; compliant actuators; impedance profiles; optimal control; temporal stiffness optimization; torque optimization; torque profiles; variable-impedance actuators; Actuators; Dynamics; Impedance; Joints; Robot kinematics; Torque; Dynamics; optimal impedance control; redundant robots; variable impedance actuation
Journal title:
Robotics, IEEE Transactions on
Year:
2013
Journal volume:
29
Month:
Oct
Journal issue:
5
Pages contribution:
1085-1101
Fulltext / DOI:
doi:10.1109/TRO.2013.2271099
Print-ISSN:
1552-3098
Notes:
2014 King-Sun Fu Memorial Award: Best Paper in the IEEE Transactions on Robotics
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