Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Biped Locomotion
Gait Synthesis for a biped robot
Robotica
An anthropomorphic biped robot: dynamic concepts and technological design
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Comparison of different gaits with rotation of the feet for a planar biped
Robotics and Autonomous Systems
Robot motion description and real-time management with the Harmonic Motion Description Protocol
Robotics and Autonomous Systems
Movement primitives for three-legged locomotion over uneven terrain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Trajectory Planning of a One-Legged Robot Performing a Stable Hop
International Journal of Robotics Research
Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions
Intelligent Service Robotics
Generation of walking periodic motions for a biped robot via genetic algorithms
Applied Soft Computing
| Hi-index | 0.00 |
Walking pattern synthesis is carried out using a spline-based parametric optimization technique. Generalized coordinates are approximated by spline functions of class C3fitted at knots uniformly distributed along the motion time. This high-order differentiability eliminates jerky variations of actuating torques. Through connecting conditions, spline polynomial coefficients are determined as a linear function of the joint coordinates at knots. These values are then dealt with as optimization parameters. An optimal control problem is formulated on the basis of a performance criterion to be minimized, representing an integral quadratic amount of driving torques. Using the above spline approximations, this primary problem is recast into a constrained non-linear optimization problem of mathematical programming, which is solved using a computing code implementing an SQP algorithm. As numerical simulations, complete gait cycles are generated for a seven-link planar biped. The only kinematic data to be accounted for are the walking speeds. Optimization of both phases of gait is carried out globally; it includes the optimization of transition configurations of the biped between successive phases of the gait cycle.