Time-Optimal Control of Variable-Stiffness-Actuated Systems
暂无分享,去创建一个
Matteo Rubagotti | Altay Zhakatayev | Huseyin Atakan Varol | M. Rubagotti | Huseyin Atakan Varol | A. Zhakatayev
[1] Pierre-Brice Wieber,et al. Fast Direct Multiple Shooting Algorithms for Optimal Robot Control , 2005 .
[2] Alin Albu-Schäffer,et al. Backstepping Control of Variable Stiffness Robots , 2015, IEEE Transactions on Control Systems Technology.
[3] Huseyin Atakan Varol,et al. Augmenting Variable Stiffness Actuation Using Reaction Wheels , 2016, IEEE Access.
[4] Bram Vanderborght,et al. Variable Recruitment of Parallel Elastic Elements: Series–Parallel Elastic Actuators (SPEA) With Dephased Mutilated Gears , 2015, IEEE/ASME Transactions on Mechatronics.
[5] Sami Haddadin,et al. Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[6] Werner Friedl,et al. Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism , 2015, IEEE/ASME Transactions on Mechatronics.
[7] Alin Albu-Schäffer,et al. The DLR hand arm system , 2011, 2011 IEEE International Conference on Robotics and Automation.
[8] Oliver Brock,et al. Soft Robotics: Transferring Theory to Application , 2015 .
[9] Alin Albu-Schäffer,et al. Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints , 2013, IEEE Transactions on Robotics.
[10] Moritz Diehl,et al. ACADO toolkit—An open‐source framework for automatic control and dynamic optimization , 2011 .
[11] Kang G. Shin,et al. Minimum-time control of robotic manipulators with geometric path constraints , 1985 .
[12] Ilian A. Bonev,et al. Minimum-Time Trajectory Planning and Control of a Pick-and-Place Five-Bar Parallel Robot , 2015, IEEE/ASME Transactions on Mechatronics.
[13] Antonio Bicchi,et al. Variable Stiffness Actuators for Fast and Safe Motion Control , 2003, ISRR.
[14] Paolo Fiorini,et al. Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..
[15] Antonio Bicchi,et al. Fast and "soft-arm" tactics [robot arm design] , 2004, IEEE Robotics & Automation Magazine.
[16] Stephen P. DeWeerth,et al. Biologically Inspired Joint Stiffness Control , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.
[17] J. Bobrow,et al. Time-Optimal Control of Robotic Manipulators Along Specified Paths , 1985 .
[18] Jan Swevers,et al. Time-Optimal Path Tracking for Robots: A Convex Optimization Approach , 2009, IEEE Transactions on Automatic Control.
[19] Antonio Bicchi,et al. Optimal Mechanical/Control Design for Safe and Fast Robotics , 2004, ISER.
[20] Werner Friedl,et al. Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction , 2015 .
[21] Nikos G. Tsagarakis,et al. A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism , 2014, IEEE/ASME Transactions on Mechatronics.
[22] Erico Guizzo,et al. The hard lessons of DARPA's robotics challenge [News] , 2015 .
[23] Huseyin Atakan Varol,et al. Integrated optimal design and control of variable stiffness actuated robots , 2015, 2015 European Control Conference (ECC).
[24] Stephen P. Boyd,et al. Minimum-time speed optimisation over a fixed path , 2014, Int. J. Control.
[25] Steven Dubowsky,et al. Planning time-optimal robotic manipulator motions and work places for point-to-point tasks , 1989, IEEE Trans. Robotics Autom..
[26] Alin Albu-Schäffer,et al. On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[27] Stefano Stramigioli,et al. The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification , 2014, IEEE/ASME Transactions on Mechatronics.
[28] Robert Riener,et al. Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses , 2015, IEEE/ASME Transactions on Mechatronics.
[29] Matteo Rubagotti,et al. Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control , 2015, IEEE Access.