NDLI: Optimal ball pitching with an underactuated model of a human arm

Content Provider	IEEE Xplore Digital Library
Author	Mettin, U. Shiriaev, A.S. Freidovich, L.B. Sampei, M.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oh-Okayama Meguro-ku, Japan (Sampei, M.) \|\| Department of Applied Physics and Electronics, Umeå University, SE-901 87, Sweden (Mettin, U.; Shiriaev, A.S.; Freidovich, L.B.)
Abstract	A new approach for solving an optimal control problem of ball pitching with an underactuated human-like robot arm is proposed. The system dynamics is simplified to a planar two-link robot with actuation only at the shoulder joint and a passive spring at the elbow joint representing the stiffness of the arm. The objective is to accelerate the ball from an initial configuration at rest in such a way that the projection of its velocity along a certain elevation angle is maximal at a predefined release line. The suggested procedure makes use of a parameterization of the robot motion in terms of geometric relations among the generalized coordinates. We systematically formulate a necessary condition for an optimal motion resulting in a nonlinear differential equation that describes a synchronization of the joint angles. A suitable solution is found by numerically searching over a finite number of free initial conditions.
Starting Page	5009
Ending Page	5014
File Size	878582
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509879
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Robot kinematics Optimal control Humanoid robots Shoulder Springs Elbow Acceleration Robot motion Differential equations Motion Planning Underactuated Mechanical Systems Optimal Control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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