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

Stelzer, M. and Hardt, M. and Stryk, Oskar von (2003):
Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot.
Catania, Italy, In: CLAWAR 2003: 6th International Conference on Climbing and Walking Robots, [Conference or Workshop Item]

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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.

Item Type: Conference or Workshop Item
Erschienen: 2003
Creators: Stelzer, M. and Hardt, M. and Stryk, Oskar von
Title: Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot
Language: English
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.

Place of Publication: Catania, Italy
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: CLAWAR 2003: 6th International Conference on Climbing and Walking Robots
Date Deposited: 24 Jun 2019 13:35
Identification Number: StelzerHardtvonStryk2003
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