Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

The increasing number of robots and the rising cost of electricity have spurred research into energy-reducing concepts in robotics. One such concept, elastic actuation, introduces compliant elements such as springs into the robot structure. This article presents a comparative analysis between two ty...

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Bibliographic Details
Published in:	International journal of advanced robotic systems Vol. 21; no. 1
Main Authors:	Marchal, Maxime, Marzougui, Dries, Furnémont, Raphaël, Verstraten, Tom, wyffels, Francis
Format:	Journal Article
Language:	English
Published:	London, England SAGE Publications 01.01.2024 Sage Publications Ltd SAGE Publishing
Subjects:	Actuation Actuators Configurations Modulus of elasticity Optimization Pick and place tasks Robot arms Robotics Springs (elastic) System identification Torque Trajectories methods and tools for robot system design evolutionary robotics Actuation and joint mechanisms compliant joints and mechanisms optimization and optimal control
ISSN:	1729-8806, 1729-8814
Online Access:	Get full text
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