Stiffness and temporal optimization in periodic movements: An optimal control approach

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

Abstract

We present a novel framework for stiffness and temporal optimization of periodic movements, with an emphasis on exploiting the intrinsic passive dynamics to realize efficient actuation and control. We use a dynamical systems based representation tuned to the requirements of rhythmic movements and propose a systematic methodology to optimize for control commands, temporal aspect of movements and timevarying stiffness profiles from first principles of optimality. Evaluations on a single pendulum and underactuated two-link robot simulation highlight the benefits, achieving remarkable actuation efficiency on complicated, highly dynamic tasks such as swing-up and brachiation.
Original languageEnglish
Title of host publicationIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages718-724
Number of pages7
ISBN (Print)978-1-61284-454-1
DOIs
Publication statusPublished - 2011

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