Title :
Optimal high-jump control of linear 1-d.o.f trampoline robot
Author :
Saitou, Yutaka ; Nagano, Tomoaki ; Seki, Takashi ; Ishikawa, Masato ; Hara, Shinji
Author_Institution :
Graduate Sch. of Inf. Sci. & Eng., Tokyo Inst. of Technol., Japan
Abstract :
This paper presents development and high-jump control of a trampoline robot via hybrid optimal control approach. We show an efficient modeling method based on a linear complementarity system framework, and propose a differential dynamic programming based algorithm to solve the high-jump control problem by using the Sussmann´s maximum principle (1999). Experimental results match to numerical results quite well.
Keywords :
dynamic programming; linear programming; maximum principle; robots; differential dynamic programming; efficient modeling method; hybrid optimal control approach; linear 1-DOF trampoline robot; linear complementarity system framework; maximum principle; optimal high-jump control; Control systems; Heuristic algorithms; Information science; Manipulators; Mechanical systems; Mechanical variables control; Optimal control; Physics computing; Robots; Vehicle dynamics;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195815
