Altay Zhakatayev

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Variable stiffness actuation has recently attracted great interest in robotics, especially in areas involving a high degree of human–robot interaction. After investigating various design approaches for variable stiffness actuated (VSA) robots, currently the focus is shifting to the control of these systems. Control of VSA robots is challenging due to the(More)
This paper proposes a method to determine the optimal value of design parameters in robots driven by variablestiffness actuators. The method consists of setting up a nonlinear optimization problem, the solution of which determines the optimal control sequence, and, at the same time, the optimal values of the parameters. As a case study, we analyze a(More)
Variable stiffness actuation is a new design paradigm for high performance and energy efficient robots with inherent safety features. Nonlinear model predictive control (NMPC) was employed to control these robots due to its ability to cope with constrained and nonlinear systems. Even though the results for NMPC are promising, one major weakness is the(More)
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