Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamics

Jun Nakanishi, A. Radulescu, Sethu Vijayakumar

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

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 languageEnglish
Title of host publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers
Pages5100-5107
Number of pages8
ISBN (Electronic)978-1-4673-6358-7
DOIs
Publication statusPublished - 3 Nov 2013
Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems - Tokyo, Japan
Duration: 3 Nov 20137 Nov 2013
http://www.iros2013.org/

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2013
Country/TerritoryJapan
CityTokyo
Period3/11/137/11/13
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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