{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,2]],"date-time":"2025-06-02T21:40:02Z","timestamp":1748900402879,"version":"3.41.0"},"publisher-location":"Cham","reference-count":31,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319288703"},{"type":"electronic","value":"9783319288727"}],"license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016]]},"DOI":"10.1007\/978-3-319-28872-7_8","type":"book-chapter","created":{"date-parts":[[2016,4,22]],"date-time":"2016-04-22T14:04:33Z","timestamp":1461333873000},"page":"131-148","source":"Crossref","is-referenced-by-count":4,"title":["Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time"],"prefix":"10.1007","author":[{"given":"Sami","family":"Haddadin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roman","family":"Weitschat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Felix","family":"Huber","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mehmet Can","family":"\u00d6zparpucu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nico","family":"Mansfeld","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alin","family":"Albu-Sch\u00e4ffer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,4,23]]},"reference":[{"issue":"3","key":"8_CR1","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/MRA.2008.927979","volume":"15","author":"Alin Albu-Schaffer","year":"2008","unstructured":"Albu-Sch\u00e4ffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimb\u00f6ck, T., Wolf, S., Hirzinger, G.: Soft robotics: From torque feedback controlled lightweight robots to intrinsically compliant systems. IEEE Robot. Autom. Mag.: Spec. Issue Adapt Compliance\/Var. Stiffness Robot. Appl. 15(3):20\u201330 (2008)","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"8_CR2","volume-title":"Trajectory Planning for Automatic Machines and Robots","author":"L Biagiotti","year":"2008","unstructured":"Biagiotti, L., Melchiorri, C.: Trajectory Planning for Automatic Machines and Robots. Springer, Berlin (2008)"},{"key":"8_CR3","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1109\/MRA.2004.1310939","volume":"11","author":"A Bicchi","year":"2004","unstructured":"Bicchi, A., Tonietti, G.: Fast and soft arm tactics: Dealing with the safety-performance trade-off in robot arms design and control. IEEE Robot. Autom. Mag. 11, 22\u201333 (2004)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"8_CR4","doi-asserted-by":"crossref","unstructured":"Billard, A., Calinon, S., Dillmann, R., Schaal, S.: Robot programming by demonstration. Handbook of Robotics, Chap 59 (2008)","DOI":"10.1007\/978-3-540-30301-5_60"},{"issue":"3","key":"8_CR5","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498500400301","volume":"4","author":"J.E. Bobrow","year":"1985","unstructured":"Bobrow, J.E., Dubowsky, S., Gibson, J.S.: Time-optimal control of robotic manipulators along specified paths. Int. J. Robot. Res. 4(3), 3\u201317 (1985)","journal-title":"The International Journal of Robotics Research"},{"key":"8_CR6","doi-asserted-by":"crossref","unstructured":"Braun, D., Howard, M., Vijayakumar, S.: Exploiting variable stiffness in explosive movement tasks. In: Robotics: Science and Systems (2011)","DOI":"10.15607\/RSS.2011.VII.004"},{"key":"8_CR7","volume-title":"Principles of Robot Motion: Theory, Algroithms, and Implementation","author":"H Choset","year":"2005","unstructured":"Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Thrun, S., Kavraki, L.E.: Principles of Robot Motion: Theory, Algroithms, and Implementation. MIT Press, Cambridge (2005)"},{"key":"8_CR8","doi-asserted-by":"crossref","unstructured":"Eiberger, O., Haddadin, S., Weis, M., Albu-Sch\u00e4ffer, A., Hirzinger, G.: On joint design with intrinsic variable compliance: Derivation of the DLR QA-joint. IEEE International Conference on Robotics and Automation, pp. 1687\u20131694 (2010)","DOI":"10.1109\/ROBOT.2010.5509662"},{"key":"8_CR9","doi-asserted-by":"crossref","unstructured":"Gams, A., Petric, T., Zlajpah, L., Ude, A.: Optimizing parameters of trajectory representation for movement generalization: robotic throwing. In: Proceedings of IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region, pp. 161\u2013166 (2010)","DOI":"10.1109\/RAAD.2010.5524592"},{"key":"8_CR10","doi-asserted-by":"crossref","unstructured":"Garabini, M., Passaglia, A., Belo, F.A.W., Salaris, P., Bicchi, A.: Optimality principles in variable stiffness control: the vsa hammer. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3770\u20133775 (2011)","DOI":"10.1109\/IROS.2011.6048555"},{"key":"8_CR11","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Huber, F., Albu-Sch\u00e4ffer, A.: Optimal control for exploiting the natural dynamics of variable stiffness robots. In IEEE International Conference on Robotics and Automation, pp. 3347\u20133354 (2012)","DOI":"10.1109\/ICRA.2012.6225190"},{"key":"8_CR12","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Krieger, K., Mansfeld, N., Albu-Sch\u00e4ffer, A.: On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. In IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 5089\u20135096 (2012)","DOI":"10.1109\/IROS.2012.6385913"},{"issue":"1","key":"8_CR13","doi-asserted-by":"crossref","first-page":"6863","DOI":"10.3182\/20110828-6-IT-1002.01686","volume":"44","author":"Sami Haddadin","year":"2011","unstructured":"Haddadin, S., Weis, M., Wolf, S., Albu-Sch\u00e4ffer, A.: Optimal control for maximizing link velocity of robotic variable stiffness joints. In: Proceedings of IFAC World Congress, pp. 6863\u20136871 (2011)","journal-title":"IFAC Proceedings Volumes"},{"key":"8_CR14","unstructured":"Haddadin, S., Laue, T., Frese, U., Wolf, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Kick it with elasticity: requirements for 2050. Robot. Auton. Syst. 57, 761\u2013775 (2009)"},{"key":"8_CR15","doi-asserted-by":"crossref","unstructured":"Haddadin, S., \u00d6zparpucu, M.C., Albu-Sch\u00e4ffer, A.: Optimal control for maximizing potential energy in a variable stiffness joint. In IEEE Conference on Decision and Control, pp. 1199\u20131206 (2012)","DOI":"10.1109\/CDC.2012.6426032"},{"key":"8_CR16","unstructured":"Ijspeert, J.A., Nakanishi, J., Schaal. S.: Learning rhythmic movements by demonstration using nonlinear oscillators. In IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 958\u2013963 (2002)"},{"key":"8_CR17","doi-asserted-by":"crossref","unstructured":"Jetchev, N., Toussaint, M.: Trajectory prediction: learning to map situations to robot trajectories. In International Conference on Machine Learning, pp. 449\u2013456 (2009)","DOI":"10.1145\/1553374.1553433"},{"issue":"4","key":"8_CR18","doi-asserted-by":"publisher","first-page":"566","DOI":"10.1109\/70.508439","volume":"12","author":"LE Kavraki","year":"1996","unstructured":"Kavraki, L.E., Svestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Autom. 12(4), 566\u2013580 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"8_CR19","doi-asserted-by":"crossref","unstructured":"Lampariello, R., Nguyen-Tuong, D., Castellini, C., Hirzinger, G., Peters, J.: Trajectory planning for optimal robot catching in real-time. In IEEE International Conference on Robotics and Automation, pp. 3719\u20133726 (2011)","DOI":"10.1109\/ICRA.2011.5980114"},{"key":"8_CR20","doi-asserted-by":"crossref","unstructured":"LaValle, S.M., Kuffner, J.J Jr.: Randomized kinodynamic planning. In IEEE Internatuinal Conference on Robotics and Automation, pp. 473\u2013479 (1999)","DOI":"10.1109\/ROBOT.1999.770022"},{"issue":"1","key":"8_CR21","doi-asserted-by":"crossref","first-page":"11399","DOI":"10.3182\/20110828-6-IT-1002.03233","volume":"44","author":"Uwe Mettin","year":"2011","unstructured":"Mettin, U., Shiriaev, A.: Ball-pitching challenge with an underactuated two-link robot arm. In: Proceedings of IFAC World Congress, pp. 1\u20136 (2011)","journal-title":"IFAC Proceedings Volumes"},{"key":"8_CR22","doi-asserted-by":"crossref","unstructured":"\u00d6zparpucu, M.C., Haddadin, S.: Optimal control for maximizing link velocity of a visco-elastic joint. In IEEE\/RSJ Int. Conference on Intelligent Robots and Systems, pp. 3035\u20133042 (2013)","DOI":"10.1109\/IROS.2013.6696786"},{"key":"8_CR23","doi-asserted-by":"crossref","unstructured":"Park, D-H., Hoffmann, H., Pastor, P., Schaal, S.: Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields. IEEE-RAS International Conference on Humanoid Robots, pp. 91\u201398 (2008)","DOI":"10.1109\/ICHR.2008.4755937"},{"issue":"2","key":"8_CR24","first-page":"39","volume":"22\u201360","author":"AV Rao","year":"2010","unstructured":"Rao, A.V., Benson, D.A., Darby, C.L., Patternson, M.A., Francolin, C., Sanders, I., Huntington, G.T.: Algorithm 902: Gpops, a matlab software for solving multiple-phase optimal control problems using the gauss pseudospectral method. ACM Trans. Math. Softw. 22\u201360(2), 39 (2010)","journal-title":"ACM Trans. Math. Softw."},{"issue":"6","key":"8_CR25","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/TAC.1985.1104009","volume":"30","author":"KG Shin","year":"1985","unstructured":"Shin, K.G., McKay, N.D.: Minimum-time control of robotics manipulators with geometric path constraints. IEEE Trans. Autom. Control 30(6), 531\u2013541 (1985)","journal-title":"IEEE Trans. Autom. Control"},{"key":"8_CR26","unstructured":"Stark, A.: A Study of Business Decisions under Uncertainty: The Probability of the Improbable. Ph.D thesis, Boca Racon, USA Florida (2010)"},{"key":"8_CR27","doi-asserted-by":"crossref","unstructured":"Stulp, F., Oztop, E., Pastor, P., Beetz, M., Schaal, S.: Compact models of motor primitive variations for predictible reaching and obstacle avoidance. In IEEE-RAS International Conference on Humanoid Robots, pp. 589\u2013595 (2009)","DOI":"10.1109\/ICHR.2009.5379551"},{"key":"8_CR28","doi-asserted-by":"crossref","unstructured":"Todorov., Li, W.: A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems. In: Proceedings of the 2005 American Control Conference, pp. 300\u2013306 (2005)","DOI":"10.1109\/ACC.2005.1469949"},{"key":"8_CR29","unstructured":"Stryk, O.V., Schlemmer, M.: Optimal control of the industrial robot manutec r3. Computational Optimal Control. International Series of Numerical Mathematics 115"},{"issue":"3","key":"8_CR30","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1109\/MRA.2009.933629","volume":"16","author":"R Ham van","year":"2009","unstructured":"van Ham, R., Sugar, T., Vanderborgth, B., Hollander, K., Lefeber, D.: Compliant actuator designs: Review of actuators with passive adjustable compliance\/controllable stiffness for robotic applications. IEEE Robot. Autom. Mag. 16(3), 81\u201394 (2009)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"8_CR31","doi-asserted-by":"crossref","unstructured":"Weitschat, R., Haddadin, S., Huber, F., Albu-Sch\u00e4ffer, A.: Dynamic optimality in real-time: A learning framework for near-optimal robot motions. In IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 5636\u20135643 (2013)","DOI":"10.1109\/IROS.2013.6697173"}],"container-title":["Springer Tracts in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-28872-7_8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,2]],"date-time":"2025-06-02T21:16:31Z","timestamp":1748898991000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-28872-7_8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"ISBN":["9783319288703","9783319288727"],"references-count":31,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-28872-7_8","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2016]]}}}