In this paper, we present a brief state-of-the-art overview on optimization approaches for energy efficiency in robotic systems. We first survey strategies that leverage the optimization of trajectory parameters to improve the energetic performance of robotic systems. Then, approaches to optimize the relative location between robot and desired task are analyzed, as well as the optimization of elastic elements working in parallel with the main actuators. Furthermore, approaches based on the optimal solution of the inverse kinematic problem in redundant robotic systems are described. Finally, the possible combination of diverse strategies to further improve energy savings is investigated, together with future developments and challenges.
Optimization Approaches for Energy Efficiency in Robotic Systems
Fabris G.
;Scalera L.;Vidoni R.;Gasparetto A.
2026-01-01
Abstract
In this paper, we present a brief state-of-the-art overview on optimization approaches for energy efficiency in robotic systems. We first survey strategies that leverage the optimization of trajectory parameters to improve the energetic performance of robotic systems. Then, approaches to optimize the relative location between robot and desired task are analyzed, as well as the optimization of elastic elements working in parallel with the main actuators. Furthermore, approaches based on the optimal solution of the inverse kinematic problem in redundant robotic systems are described. Finally, the possible combination of diverse strategies to further improve energy savings is investigated, together with future developments and challenges.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
