Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice
Edgar A. Bolívar-Nieto,Gray C. Thomas,Elliott Rouse,Robert D. Gregg,Edgar A. Bolívar-Nieto,Gray C. Thomas,Elliott Rouse,Robert D. Gregg
Natural dynamics, nonlinear optimization, and, more recently, convex optimization are available methods for stiffness design of energy-efficient series elastic actuators. Natural dynamics and general nonlinear optimization only work for a limited set of load kinetics and kinematics, cannot guarantee convergence to a global optimum, or depend on initial conditions to the numerical solver. Convex pr...
