Name
Title | ||
|---|---|---|
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. |
Abstract | ||
|---|---|---|
Compliant elements in robotic systems can strongly increase the energy efficiency of highly dynamic periodic motions with large energy consumption such as jumping. Their control is a challenging task for multijoint systems. Typical control algorithms are model-based and thus fail to adjust to unexpected mechanical environments or make limited use of mechanical resonance properties. Here, we apply ... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2016.2633580 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Limit-cycles,Aerospace electronics,Robot sensing systems,Actuators,Legged locomotion,Heuristic algorithms | Control theory,Nonlinear system,Optimal control,Control theory,Efficient energy use,Control engineering,Mechanical resonance,Modular design,Engineering,Energy consumption,Actuator | Journal |
Volume | Issue | ISSN |
2 | 2 | 2377-3766 |
Citations | PageRank | References |
2 | 0.41 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Philipp Stratmann | 1 | 6 | 1.22 |
| Dominic Lakatos | 2 | 47 | 8.03 |
| Mehmet Can Ozparpucu | 3 | 4 | 1.15 |
| Alin Albu-Schaffer | 4 | 2831 | 262.17 |