Name
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 passive impedance (stiffness and/or damping) simultaneously and independently. Here, we propose a framework for simultaneous optimisation of torque and impedance (stiffness) profiles in order to optimise task performance, tuned to the complex hardware and incorporating real-world constraints. Simulation and hardware experiments validate the viability of this approach to complex, state dependent constraints and demonstrate task performance benefits of optimal temporal impedance modulation. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385991 | Intelligent Robots and Systems |
Keywords | DocType | ISSN |
damping,elasticity,optimal control,robot kinematics,torque control,anthropomorphic robots,compliantly actuated robots,kinematics,optimal stiffness control,optimal torque control,variable-impedance actuators,variable-stiffness actuation,physical constraints | Conference | 2153-0858 |
ISBN | Citations | PageRank |
978-1-4673-1737-5 | 7 | 0.58 |
References | Authors | |
6 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| david braun | 1 | 56 | 6.31 |
| florian petit | 2 | 7 | 0.58 |
| felix huber | 3 | 7 | 0.58 |
| Sami Haddadin | 4 | 294 | 19.18 |
| P. Patrick Van Der Smagt | 5 | 274 | 35.19 |
| Alin Albu-Schaffer | 6 | 2831 | 262.17 |
| Sethu Vijayakumar | 7 | 1465 | 144.22 |