The Minimum Energy Movement for a Spring Muscle Model

dc.creator	Hollerbach, John M.
dc.date	2004-10-04T14:48:32Z
dc.date	2004-10-04T14:48:32Z
dc.date	1977-09-01
dc.date.accessioned	2013-10-09T02:44:36Z
dc.date.available	2013-10-09T02:44:36Z
dc.date.issued	2013-10-09
dc.identifier	AIM-424
dc.identifier	http://hdl.handle.net/1721.1/6282
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	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.
dc.format	6116199 bytes
dc.format	4536546 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-424
dc.title	The Minimum Energy Movement for a Spring Muscle Model

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