Cartesian Stiffness Shaping of Compliant Robots—Incremental Learning and Optimization Based on Sequential Quadratic Programming
Emerging robotic systems with compliant characteristics, incorporating nonrigid links and/or elastic actuators, are opening new applications with advanced safety features, as well as improved performance and energy efficiency in contact tasks. However, the complexity of such systems poses challenges...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/1/32 |