Optimization problems of controlled multibody systems having spring-damper actuators

To incorporate spring-damper actuators into the structure of multibody systems and to design optimally their parameters can give several advantages. In this paper, we tackle optimal control problems for multibody systems having spring-damper actuators. We study a fundamental question about optimal interaction between controlling stimuli generated by external drives and proportional-differential forces described by linear and angular stiffness and damping parameters. A range of questions are also addressed about the role of inherent dynamics, and how much multibody system should be governed by external drives and how much by the system's inherent dynamics. We are in particular investigating semi-passively actuated manipulator robots and bipedal walking mechanisms having spring-damper actuators. Results obtained can help to design simpler control systems of manipulator robots and legged autonomous mechanisms having less weight and energy consumption