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Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot

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

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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
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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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