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Dynamic modeling in the simulation, optimization and control of legged robots

Hardt, M. and Stryk, Oskar von (2003):
Dynamic modeling in the simulation, optimization and control of legged robots.
In: ZAMM - Journal of Applied Mathematics and Mechanics, pp. 648-662, 83, (10), ISSN 0044-2267,
[Online-Edition: http://www.wiley-vch.de/publish/en/journals/alphabeticIndex/...],
[Article]

Abstract

Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose.Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits.

Item Type: Article
Erschienen: 2003
Creators: Hardt, M. and Stryk, Oskar von
Title: Dynamic modeling in the simulation, optimization and control of legged robots
Language: English
Abstract:

Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose.Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits.

Journal or Publication Title: ZAMM - Journal of Applied Mathematics and Mechanics
Volume: 83
Number: 10
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 24 Jun 2019 13:00
Official URL: http://www.wiley-vch.de/publish/en/journals/alphabeticIndex/...
Identification Number: HardtvonStryk2003
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