MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • Computer Science and Artificial Intelligence Lab (CSAIL)
  • Artificial Intelligence Lab Publications
  • AI Memos (1959 - 2004)
  • View Item
  • DSpace@MIT Home
  • Computer Science and Artificial Intelligence Lab (CSAIL)
  • Artificial Intelligence Lab Publications
  • AI Memos (1959 - 2004)
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

The Minimum Energy Movement for a Spring Muscle Model

Author(s)
Hollerbach, John M.
Thumbnail
DownloadAIM-424.ps (5.832Mb)
Additional downloads
AIM-424.pdf (4.326Mb)
Metadata
Show full item record
Abstract
There are many ways of programming an actuator or effector for movement between the same two points. In the interest of efficiency it is sometimes desirable to program that trajectory which requires the least amount of energy. This paper considers the minimum energy movement for a spring-like actuator abstracted from muscle mechanics and energetics. It is proved that for this actuator a bang-coast-bang actuation pattern minimizes the energy expenditure. For some parameter values this pattern is modified by a singular arc at the first switching point. A surprising limitation on the duration of coast is demonstrated. Some relaxations of the restrictions underlying the spring model are shown to preserve the bang-coast-bang solution.
Date issued
1977-09-01
URI
http://hdl.handle.net/1721.1/6282
Other identifiers
AIM-424
Series/Report no.
AIM-424

Collections
  • AI Memos (1959 - 2004)

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.