2024
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Hugo T. M. Kussaba, Abdalla Swikir +1
ICRA 2024poster
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic motions even with limited motor power. However, the time-depen…