DocumentCode
184043
Title
Optimal parameters for stable walking of a compass-like biped robot
Author
Kastsian, Darya ; Oertel, Elisabeth ; Monnigmann, Martin
Author_Institution
Autom. Control & Syst. Theor., Ruhr-Univ. Bochum, Bochum, Germany
fYear
2014
fDate
8-10 Oct. 2014
Firstpage
814
Lastpage
819
Abstract
We maximize the speed of a compass-like biped robot for the passive locomotion case. A straight forward application of nonlinear programming methods results in an unstable walking trajectory. In order to obtain an optimal and stable result we apply the normal vector method. This requires extending the method to the class of hybrid systems modeled by impulsive differential equations. We show that the method can cope with stability constraints and parametric uncertainty.
Keywords
continuous systems; discrete systems; legged locomotion; nonlinear programming; stability; compass-like biped robot; hybrid systems; impulsive differential equations; nonlinear programming methods; normal vector method; optimal parameters; parametric uncertainty; passive locomotion case; stability constraints; unstable walking trajectory; Legged locomotion; Mathematical model; Optimization; Stability analysis; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location
Juan Les Antibes
Type
conf
DOI
10.1109/CCA.2014.6981441
Filename
6981441
Link To Document