Abstract
This paper proposes a time reversal integral method for series elastic joint robots. Time reversal integral is a control input planning method for noncyclic swing motion in multiple joint robots such as throwing. The principal contribution of this paper is to extend the method for series elastic joint robots. We propose an extension method by using the elastic and link kinetic energy increasing formula and an imaginary velocity input to achieve high speed by utilizing series elastic joints. This paper describes detail of the algorithm and experimental examinations.
