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Published at December 9

Enhancing Robotic System Robustness via Lyapunov Exponent-Based Optimization

cs.RO

Released Date: December 9, 2024

Authors: G. Fadini¹, S. Coros

Aff.: ¹ETHZ, Computational Robotics Lab (CRL), Zurich, Switzerland

Arxiv: http://arxiv.org/pdf/2412.06776v1

Refer to caption

Parameter	Nominal	Optimized
Lengths $L_{1},L_{2}$ [m]	(1.0, 1.0)	(0.9, 0.1)
Masses $m_{1},m_{2}$ [kg]	(0.5, 0.5)	(0.9, 0.01)
Damping $K_{d}$ [Ns/rad]	(5.0, 5.0)	(31.7, 21.7)
Stiffness $K_{p}$ [Nm/rad]	(20.0, 20.0)	(59.8, 59.8)
Stiffness $K_{c}$ [Nm/rad]	(1.0, 1.0)	(0.75, 1.78)
Cost	1.06	0.21
Robustness $\mathcal{L}_{\lambda}$	$-2.5\cdot 10^{-3}$	$-1.3\cdot 10^{-2}$