{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:55:06Z","timestamp":1753887306919,"version":"3.41.2"},"reference-count":29,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T00:00:00Z","timestamp":1563408000000},"content-version":"vor","delay-in-days":198,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"R&D program of china","award":["2017YFB1303900"],"award-info":[{"award-number":["2017YFB1303900"]}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2019,1]]},"abstract":"<jats:p>Variable stiffness actuator is a new actuation of robot which is inspired by motor control of human arm. And it is promising way to exploit the human\u2010like performance and human\u2010like motion. However, due to the mechanical complexity and redundancy of the actuators, it is not trivial to control the variable stiffness actuated robot to perform a human\u2010like motion. In this paper, the weight lifting problem with variable stiffness actuated robot is studied. Then, the original problem is formulated as a constrained optimal control problem and transformed as a general nonlinear programming problem with Gauss pseudospectral method. Simulation studies demonstrate the effectiveness of the proposed method compared with the iLQR approach. Furthermore, the simulations results are presented to show the influence of stiffness variation of variable stiffness actuators on the weight lifting problem.<\/jats:p>","DOI":"10.1155\/2019\/4872189","type":"journal-article","created":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T23:33:55Z","timestamp":1563492835000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Weight Lifting Trajectory Optimization for Variable Stiffness Actuated Robot"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8489-2362","authenticated-orcid":false,"given":"Chen","family":"Ji","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6324-3796","authenticated-orcid":false,"given":"Minxiu","family":"Kong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1383-7745","authenticated-orcid":false,"given":"Ruifeng","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2019,7,18]]},"reference":[{"key":"e_1_2_10_1_2","unstructured":"ChenL. GarabiniM. LaffranchiM. KashiriN. TsagarakisN. G. BicchiA. andCaldwellD. G. Optimal control for maximizing velocity of the CompAct\u2122 compliant actuator Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u203213) May 2013 Karlsruhe Germany IEEE 516\u2013522 2-s2.0-84883737807."},{"key":"e_1_2_10_2_2","doi-asserted-by":"crossref","unstructured":"WolfS. EibergerO. andHirzingerG. The DLR FSJ: energy based design of a variable stiffness joint Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u203211) May 2011 Shanghai China IEEE 5082\u20135089 https:\/\/doi.org\/10.1109\/icra.2011.5980303 2-s2.0-84861604710.","DOI":"10.1109\/ICRA.2011.5980303"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915438"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9302-3"},{"key":"e_1_2_10_5_2","unstructured":"GarabiniM. PassagliaA. BeloF. SalarisP. andBicchiA. Optimality principles in stiffness control: the VSA kick Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u203212) May 2012 USA 3341\u20133346 2-s2.0-84864469861."},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.928569"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9697-6"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00043-5"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700017227"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.03.002"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.physleta.2012.04.008"},{"key":"e_1_2_10_12_2","unstructured":"ZhangY.andMaiS. Minimum-energy redundancy resolution of robot manipulators unified by quadratic programming and its online solution Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA \u203207) August 2007 China 3232\u20133237 2-s2.0-37049019242."},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.09.016"},{"key":"e_1_2_10_14_2","article-title":"Robust bi-objective optimal control of 1, 3-propanediol microbial batch production process","author":"Liu C.","year":"2018","journal-title":"Journal of Process Control"},{"key":"e_1_2_10_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.nahs.2017.01.006"},{"key":"e_1_2_10_16_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11590-016-1105-6"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.5772\/10524"},{"key":"e_1_2_10_18_2","unstructured":"TodorovE.andLiW. A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems 1 Proceedings of the American Control Conference (ACC \u203205) June 2005 USA 300\u2013306 2-s2.0-23944452693."},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2891663"},{"key":"e_1_2_10_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2028959"},{"key":"e_1_2_10_21_2","unstructured":"BensonD. A gauss pseudospectral transcription for optimal control [Ph.D. thesis] 2005 Massachusetts Institute of Technology Cambridge Mass USA."},{"key":"e_1_2_10_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2017.04.001"},{"key":"e_1_2_10_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2360613"},{"key":"e_1_2_10_24_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-012-0586-9"},{"key":"e_1_2_10_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2271099"},{"key":"e_1_2_10_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2244787"},{"key":"e_1_2_10_27_2","first-page":"987","article-title":"Springer handbook of robotics","volume":"56","author":"Siciliano B.","year":"2007","journal-title":"Springer Handbook of Robotics"},{"key":"e_1_2_10_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2007.04.001"},{"key":"e_1_2_10_29_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2801134"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2019\/4872189.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2019\/4872189.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2019\/4872189","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T11:51:32Z","timestamp":1723031492000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2019\/4872189"}},"subtitle":[],"editor":[{"given":"Chongyang","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2019,1]]},"references-count":29,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,1]]}},"alternative-id":["10.1155\/2019\/4872189"],"URL":"https:\/\/doi.org\/10.1155\/2019\/4872189","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2019,1]]},"assertion":[{"value":"2019-03-08","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-06-17","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-07-18","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"4872189"}}