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Trajectory optimization for walking robots with series elastic actuators
2014
53rd IEEE Conference on Decision and Control
Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is
doi:10.1109/cdc.2014.7039845
dblp:conf/cdc/WernerLO14
fatcat:k3e6ojo7srbovm7whe74zj5ak4