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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.
|Title of host publication||Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||7|
|Publication status||Published - 2011|
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- 1 Finished
Sensorimotor structuring of perception and action for emerging cognition - LINKED TO R82639 & R82640
1/10/06 → 30/06/10