Optimal Torque and Stiffness Control in Compliantly Actuated Robots

DJ Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schaffer, S. Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.
Original languageEnglish
Title of host publicationIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2801-2808
Number of pages8
ISBN (Print)978-1-4673-1737-5
DOIs
Publication statusPublished - 2012

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