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.
Influence of joint stiffness and motion time on the trajectories of underactua ted robots
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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.