Optimal control for maximizing link velocity of robotic variable stiffness joints

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 6863-6871

  Haddadin, Sami ^a   Weis, Michael ^a   Wolf, Sebastian ^a   Albu Schäffer, Alin ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ELASTICITY; ENERGY TRANSFER; ROBOTICS;

CONTROL SCHEMES; JOINT ELASTICITY; JOINT PROTOTYPES; MAXIMUM VELOCITY; OPTIMAL CONTROL THEORY; OPTIMAL CONTROLS; STIFFNESS ADJUSTMENTS; VARIABLE STIFFNESS;

STIFFNESS;

EID: 84866772520     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.01686     Document Type: Conference Paper

References (17)

1. Alin Albu-Schäffer, Christian Ott, and Gerd Hirzinger. A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. The Int. J. of Robotics Research, 26:23-39, 2007.
2. Arthur E. Bryson and Yu-Chi Ho. Applied optimal control. Hemisphere Publ. Corp., rev. print. edition, 1975. ISBN 0-470-26774-7, 0-470-11481-9.
3. R. Bulirsch and J. Stoer. Einführung in die numerische Mathematik 2. Springer-Verlag, 1978. (German).
4. Carl-Cranz-Gesellschaft. Optimierungsverfahren- Software und praktische Anwendungen, 1981. (German).
5. Oliver Eiberger, Sami Haddadin, MichaelWeis, Alin Albu-Schäffer, and Gerd Hirzinger. On joint design with intrinsic variable compliance: Derivation of the DLR QA-joint. IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, pages 1687-1694, 2010.
6. Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Hoeppner, Stefan Joerg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, and Gerd Hirzinger. The dlr hand arm system. In accepted at: IEEE International Conference on Robotics and Automation, 2011.
7. S. Haddadin, T. Laue, U. Frese, and G. Hirzinger. Foul 2050: Thoughts on physical interaction in human-robot soccer. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2007), San Diego, USA, pages 3243-3250, 2007.
8. I.P. Herman. Physics of the Human Body. Springer Verlag, 2007.
9. H.J. Oberle. BNDSCO - A Program for the Numerical Solution of Optimal Control Problems, October 2001. Hamburger Beiträge zur angewandten Mathematik, Bericht 36, Reihe B.
10. M. Okada, S. Ban, and Y. Nakamura. Skill of compliance with controlled charging/discharging of kinetic energy. In IEEE Int. Conf. on Robotics and Automation (ICRA2002), Washington, USA, pages 2455-2460, 2002.
11. D. Paluska and H. Herr. The effect of series elasticity on actuator power and work output: Implications for robotic and prosthetic joint design. Robotics and Autonomous Systems, 54:667-673, 2006.
12. H. Schempf, C. Kraeuter, and M. Blackwell. ROBOLEG: A robotic soccer-ball kicking leg. In IEEE Int. Conf. on Robotics and Automation (ICRA1995), Nagoya, Aichi, Japan, volume 2, pages 1314 - 1318, 1995.
13. Ronald van Ham, Thomas Sugar, Bram Vanderborgth, Kevin Hollander, and Dirk Lefeber. Compliant actuator designs: Review of actuators with passive adjustable compliance/controllable stiffness for robotic applications. IEEE Robotics and Automation Mag., 16(3): 81-94, 2009.
14. B. Vanderborght, B. Verrelst, R. Van Ham, M. Van Damme, D. Lefeber, B.M.Y. Duran, and P. Beyl. Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators. Int. Journal of Robotics Research, 25(4):343-358, 2006. ISSN 0278-3649.
15. S. Wolf and G. Hirzinger. A new variable stiffness design: Matching requirements of the next robot generation. IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, pages 1741-1746, 2008.
16. J. Yamaguchi, S. Inoue, D. Nishino, and A. Takanishi. Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1998), Victoria, B.C., Canada, pages 96-101, 1998a.
17. J. Yamaguchi, D. Nishino, and A. Takanishi. Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. In IEEE Int. Conf. on Robotics and Automation (ICRA1998), Leuven, Belgium, pages 2022-2029, 1998b