Embedded Optimal Control of Robot Manipulators with Passive Joints

Table 4

Results for the swing-down maneuver for the Acrobot with brake: [s].

Method	Minimum energy [J]	Resolution time [s]	Sequence of modes	Switching times [s]
EOC	5.71916	4.7636	(0, 1, 0, 1, 0, 1)
				MMIOC	5.73743	19.428886	(1, 0, 1, 0, 1)