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On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level.
Sami Haddadin
Kai Krieger
Nico Mansfeld
Alin Albu-Schäffer
Published in:
IROS (2012)
Keyphrases
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joint optimization
worst case
cooperative
mobile robot
levels of abstraction
optimal solution
input output
higher level
fluid flow
real time
optimal design
lower level
desirable properties
optimal control
structural properties
dynamic programming
objective function
learning algorithm
real world
neural network