Abstract
Inspired by the elasticity contained in human muscles, elastic soft robots are designed with the aim of imitating motions as observed in humans or animals. Especially reaching peak velocities using stored energy in the springs is a task of significant interest. In this chapter, general results on maximizing a softrobot’s end-point velocity by using elastic joint energy are presented and discussed.
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Haddadin, S. (2015). Optimal Exploitation of Soft-Robot Dynamics. In: Verl, A., Albu-Schäffer, A., Brock, O., Raatz, A. (eds) Soft Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44506-8_9
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DOI: https://doi.org/10.1007/978-3-662-44506-8_9
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