Abstract. Optimal Feedback Control (OFC) has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. Recent developments, such as the Iterative Linear Quadratic Gaussian (ILQG) algorithm, have focused on the case of non-linear, but still analytically available, dynamics. For realistic control systems, however, the dynamics may often be unknown, difficult to estimate, or subject to frequent systematic changes. In this chapter, we combine the ILQG framework with learning the forward dynamics for simulated arms, which exhibit large redundancies, both, in kinematics and in the actuation. We demonstrate how our approach can compensate for complex dynamic perturbations in an online fashion. The specific adaptive framework introduced lends itself to a computationally more efficient implementation of the ILQG optimisation without sacrificing control accuracy -allowing the method to scale to large DoF systems.

Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is much experimental evidence available that the nervous system employs such strategies, no generally-valid computational model of impedance control derived from first principles has been proposed so far. Here we develop a new impedance control model for antagonistic limb systems which is based on a minimization of uncertainties in the internal model predictions. In contrast to previously proposed models, our framework predicts a wide range of impedance control patterns, during stationary and adaptive tasks. This indicates that many well-known impedance control phenomena naturally emerge from the first principles of a stochastic optimization process that minimizes for internal model prediction uncertainties, along with energy and accuracy demands. The insights from this computational model could be used to interpret existing experimental impedance control data from the viewpoint of optimality or could even govern the design of future experiments based on principles of internal model uncertainty.

Novel anthropomorphic robotic systems increasingly employ variable impedance actuation with a view to achieving robustness against uncertainty, superior agility and improved efficiency that are hallmarks of biological systems. Controlling and modulating impedance profiles such that they are optimally tuned to the controlled plant is crucial in realizing these benefits. In this work, we propose a methodology to generate optimal control commands for variable impedance actuators under a prescribed tradeoff of task accuracy and energy cost. We employ a supervised learning paradigm to acquire both the plant dynamics and its stochastic properties. This enables us to prescribe an optimal impedance and command profile (i) tuned to the hard-to-model plant noise characteristics and (ii) adaptable to systematic changes. To evaluate the scalability of our framework to real hardware, we designed and built a novel antagonistic series elastic actuator (SEA) characterized by a simple mechanical architecture and we ran several evaluations on a variety of reach and hold tasks. These results highlight, for the first time on real hardware, how impedance modulation profiles tuned to the plant dynamics emerge from the first principles of stochastic optimization, achieving clear performance gains over classical methods that ignore or are incapable of incorporating stochastic information.

Abstract-We present a novel method for designing controllers for robots with variable impedance actuators. We take an imitation learning approach, whereby we learn impedance modulation strategies from observations of behaviour (for example, that of humans) and transfer these to a robotic plant with very different actuators and dynamics. In contrast to previous approaches where impedance characteristics are directly imitated, our method uses task performance as the metric of imitation, ensuring that the learnt controllers are directly optimised for the hardware of the imitator. As a key ingredient, we use apprenticeship learning to model the optimisation criteria underlying observed behaviour, in order to frame a correspondent optimal control problem for the imitator. We then apply local optimal feedback control techniques to find an appropriate impedance modulation strategy under the imitator's dynamics. We test our approach on systems of varying complexity, including a novel, antagonistic series elastic actuator and a biologically realistic two-joint, six-muscle model of the human arm.

Studies have shown micro-hydropower (MHP) opportunities for energy recovery and CO2 reductions in the water sector. This paper conducts a large-scale assessment of this potential using a dataset amassed across six EU countries (Ireland, Northern Ireland, Scotland, Wales, Spain, and Portugal) for the drinking water, irrigation, and wastewater sectors. Extrapolating the collected data, the total annual MHP potential was estimated between 482.3 and 821.6 GWh, depending on the assumptions, divided among Ireland (15.5–32.2 GWh), Scotland (17.8–139.7 GWh), Northern Ireland (5.9–8.2 GWh), Wales (10.2–8.1 GWh), Spain (375.3–539.9 GWh), and Portugal (57.6–93.5 GWh) and distributed across the drinking water (43–67%), irrigation (51–30%), and wastewater (6–3%) sectors. The findings demonstrated reductions in energy consumption in water networks between 1.7 and 13.0%. Forty-five percent of the energy estimated from the analysed sites was associated with just 3% of their number, having a power output capacity >15 kW. This demonstrated that a significant proportion of energy could be exploited at a small number of sites, with a valuable contribution to net energy efficiency gains and CO2 emission reductions. This also demonstrates cost-effective, value-added, multi-country benefits to policy makers, establishing the case to incentivise MHP in water networks to help achieve the desired CO2 emissions reductions targets.