Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.
Computational me thods for mimo flat linear systems: Flat output characterization, tes t and tracking control
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Optimal control of differentially flat underactuated planar robots in the perspective of oscillation mitigation
Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.