Energy-Aware Optimal Control of Variable Stiffness Actuated Robots

Research output: Contribution to journalArticle

Abstract

Energy-aware motion planning for robotic systems has received increasing attention during recent years, due to environmental and economic reasons. This letter presents a framework for defining and solving different types of optimal control problems for variable stiffness actuated robots. These robots can store and release energy during task execution, but motion planning and control are made difficult by the presence of several physical constraints. In the optimal control problems formulated in this letter, constraints on power and energy are explicitly accounted for, while minimizing energy consumption or maximizing performance. The validity of our approach has been tested on a ball-throwing case study, for which simulation and experimental results are presented and discussed.

Original languageEnglish
Article number8598982
Pages (from-to)330-337
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume4
Issue number2
DOIs
Publication statusPublished - Apr 1 2019

Fingerprint

Motion planning
Stiffness
Optimal Control
Motion Planning
Robot
Robots
Optimal Control Problem
Motion control
Energy
Robotics
Energy utilization
Motion Control
Economics
Energy Consumption
Ball
Experimental Results
Simulation

Keywords

  • energy and environment-aware automation
  • motion and path planning
  • Optimization and optimal control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Energy-Aware Optimal Control of Variable Stiffness Actuated Robots. / Zhakatayev, Altay; Rubagotti, Matteo; Varol, Huseyin Atakan.

In: IEEE Robotics and Automation Letters, Vol. 4, No. 2, 8598982, 01.04.2019, p. 330-337.

Research output: Contribution to journalArticle

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