Abstract-Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and passive impedance (stiffness and/or damping) simultaneously and independently. Here, we propose a framework for simultaneous optimisation of torque and impedance (stiffness) profiles in order to optimise task performance, tuned to the complex hardware and incorporating real-world constraints. Simulation and hardware experiments validate the viability of this approach to complex, state dependent constraints and demonstrate task performance benefits of optimal temporal impedance modulation.
Alternatively, Braun et al. REF proposed a framework for simultaneous optimization of torque and impedance profiles in order to optimize task performance.
Optimal torque and stiffness control in compliantly actuated robots
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science