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Abstract
We address the optimal control problem of robotic systems with variable stiffness actuation (VSA) including switching dynamics and discontinuous state transitions. Our focus in this paper is to consider tasks that have multiple phases of movement, contacts and impacts with the environment. By modelling such tasks as an approximate hybrid dynamical system with time-based switching, we develop a systematic methodology to simultaneously optimize control commands, stiffness profiles and temporal aspect of the movement such as switching instances and total movement duration. Numerical evaluations on a simple switching system, a realistic brachiating robot model with VSA, and a hopper with variable stiffness springs demonstrate the effectiveness of the proposed approach.
Original language | English |
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Title of host publication | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 5100-5107 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-4673-6358-7 |
DOIs | |
Publication status | Published - 3 Nov 2013 |
Event | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems - Tokyo, Japan Duration: 3 Nov 2013 → 7 Nov 2013 http://www.iros2013.org/ |
Publication series
Name | |
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Publisher | IEEE |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Abbreviated title | IROS 2013 |
Country/Territory | Japan |
City | Tokyo |
Period | 3/11/13 → 7/11/13 |
Internet address |
Keywords / Materials (for Non-textual outputs)
- optimal control
- optimisation
- robot dynamics
- time-varying systems
- approximate hybrid dynamical system
- brachiating robot model
- discontinuous state transitions
- multiphase movements
- optimal control problem
- robotic systems
- spatio-temporal optimization
- switching dynamics
- time-based switching
- variable stiffness actuation
- variable stiffness springs
- Approximation methods
- Heuristic algorithms
- Joints
- Optimal control
- Optimization
- Robots
- Switches
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Dive into the research topics of 'Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamics'. Together they form a unique fingerprint.Projects
- 1 Finished
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TOMSY: Topology Based Motion Synthesis for Dextrous Manipulation
Vijayakumar, S., Komura, T. & Ramamoorthy, R.
1/04/11 → 31/03/14
Project: Research