Optimality principles in stiffness control: The VSA kick

@article{Garabini2012OptimalityPI,
  title={Optimality principles in stiffness control: The VSA kick},
  author={Manolo Garabini and Andrea Passaglia and Felipe A. W. Belo and Paolo Salaris and Antonio Bicchi},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={3341-3346}
}
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… CONTINUE READING
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