Stelzer, M. ; Hardt, M. ; Stryk, Oskar von (2003)
Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot.
CLAWAR 2003: 6th International Conference on Climbing and Walking Robots.
Konferenzveröffentlichung, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
Numerical simulation and optimization of gaits for quadruped robots based on nonlinear multibody dynamics models of legged locomotion have made progress recently. A fully threedimensional dynamical model of Sony’s four-legged robot is used to state an optimal control problem for a symmetric, dynamically stable gait. The optimal control problem is solved by a sparse direct collocation method. Numerical problems related to the high-index differential algebraic equations of motion are avoided by substituting the differential algebraic equations by an equivalent set of reduced dynamics ordinary differential equations. Numerical and experimental results validate the model and the methods used for gait generation.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Stelzer, M. ; Hardt, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot |
| Sprache: | Englisch |
| Publikationsjahr: | September 2003 |
| Ort: | Catania, Italy |
| Veranstaltungstitel: | CLAWAR 2003: 6th International Conference on Climbing and Walking Robots |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Numerical simulation and optimization of gaits for quadruped robots based on nonlinear multibody dynamics models of legged locomotion have made progress recently. A fully threedimensional dynamical model of Sony’s four-legged robot is used to state an optimal control problem for a symmetric, dynamically stable gait. The optimal control problem is solved by a sparse direct collocation method. Numerical problems related to the high-index differential algebraic equations of motion are avoided by substituting the differential algebraic equations by an equivalent set of reduced dynamics ordinary differential equations. Numerical and experimental results validate the model and the methods used for gait generation. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:35 |
| Letzte Änderung: | 24 Jun 2019 13:35 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot. (deposited 24 Jun 2019 13:35) [Gegenwärtig angezeigt]
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