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ICRA
2010
IEEE

Optimal Feedback Control for anthropomorphic manipulators

13 years 10 months ago
Optimal Feedback Control for anthropomorphic manipulators
— We study target reaching tasks of redundant anthropomorphic manipulators under the premise of minimal energy consumption and compliance during motion. We formulate this motor control problem in the framework of Optimal Feedback Control (OFC) by introducing a specific cost function that accounts for the physical constraints of the controlled plant. Using an approximative computational optimal control method we can optimally control a high-dimensional anthropomorphic robot without having to specify an explicit inverse kinematics, inverse dynamics or feedback control law. We highlight the benefits of this biologically plausible motor control strategy over traditional (open loop) optimal controllers: The presented approach proves to be significantly more energy efficient and compliant, while being accurate with respect to the task at hand. These properties are crucial for the control of mobile anthropomorphic robots, that are designed to interact safely in a human environment. To t...
Djordje Mitrovic, Sho Nagashima, Stefan Klanke, Ta
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Djordje Mitrovic, Sho Nagashima, Stefan Klanke, Takamitsu Matsubara, Sethu Vijayakumar
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