Exploiting Natural Dynamics for Efficient and Robust Control of Modern Robots: Identification and Realization of Design Patterns KU Leuven
Motivation: Very often, control objectives such as accuracy and precision of robot motions and forces are not the only requirements imposed on the robot's behaviour. For completing tasks defined in dynamic and unstructured environments/settings, it is necessary that the employed software control method additionally enables high degrees of efficiency and robustness in a robot, given the system's mechanical structure and actuation capabilities. ...