Time-Energy Optimal Trajectory Planning for Variable Stiffness Actuated Robot
A variable stiffness actuator is inspired by the human motor control and is the most popular actuator used to exploit the human performance and human-like motion. However, these actuators are typically highly non-linear and redundant not only in their kinematics but also in their dynamics due to the...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8606051/ |