Integrated optimal design and control of variable stiffness actuated robots

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

2 Citations (Scopus)

Abstract

This paper proposes a method to determine the optimal value of design parameters in robots driven by variable-stiffness actuators. The method consists of setting up a nonlinear optimization problem, the solution of which determines the optimal control sequence, and, at the same time, the optimal values of the parameters. As a case study, we analyze a ball-throwing problem for a two-link elbow manipulator actuated by antagonistic quadratic springs, and show results for different configurations. Even if similar methods have already been proposed, mainly in process control, this approach is novel when applied to robots, and could lead to an overall improvement of their design, exploiting numerical optimization tools, which, in the last years, have become faster and more reliable.

Original languageEnglish
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1100-1105
Number of pages6
ISBN (Print)9783952426937
DOIs
Publication statusPublished - Nov 16 2015
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: Jul 15 2015Jul 17 2015

Other

OtherEuropean Control Conference, ECC 2015
CountryAustria
CityLinz
Period7/15/157/17/15

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Zhakatayev, A., Rubagotti, M., & Varol, H. A. (2015). Integrated optimal design and control of variable stiffness actuated robots. In 2015 European Control Conference, ECC 2015 (pp. 1100-1105). [7330687] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2015.7330687