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.
Desi gn and optimal control of an underactuated cable-driven micro-ma cro robot
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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.