Abstract
The importance of Variable Stiffness Actuators (VSA) in safety and performance of robots has been extensively discussed in the last decade. It has also been shown recently that a VSA brings performance advantages with respect to common actuators. For instance, the solution of the optimal control problem of maximizing the speed of a VSA for impact maximization at a given position with free final time is achieved by applying a control policy that synchronizes stiffness changes with link speed and acceleration. This problem can be regarded as the formalization of the performance of a soccer player's free kick. © 2012 IEEE.
Cite
CITATION STYLE
Garabini, M., Passaglia, A., Belo, F., Salaris, P., & Bicchi, A. (2012). Optimality principles in stiffness control: The VSA kick. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3341–3346). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ICRA.2012.6225176
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