Hardt, Michael ; Stryk, Oskar von (2002)
Increasing stability in dynamic gaits using numerical optimization.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Optimal gait planning is applied in this work to the problem of improving stability in quadruped locomotion. In many settings, it is desired to operate legged machines at high performance levels where rapid velocities and a changing environment make stability of utmost concern. Since gait planning still remains a vital component of legged system control design, an efficient method of determining periodic paths is presented which optimize a dynamic stability criterion. Efficient recursive multibody algorithms are used with numerical optimal control software to solve the minimax performance stability criteria.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2002 |
| Autor(en): | Hardt, Michael ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Increasing stability in dynamic gaits using numerical optimization |
| Sprache: | Deutsch |
| Publikationsjahr: | 1 Juli 2002 |
| Verlag: | Elsevier Science |
| Reihe: | International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 1636-1641 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Optimal gait planning is applied in this work to the problem of improving stability in quadruped locomotion. In many settings, it is desired to operate legged machines at high performance levels where rapid velocities and a changing environment make stability of utmost concern. Since gait planning still remains a vital component of legged system control design, an efficient method of determining periodic paths is presented which optimize a dynamic stability criterion. Efficient recursive multibody algorithms are used with numerical optimal control software to solve the minimax performance stability criteria. |
| Freie Schlagworte: | walking, path planning, dynamic stability, robot dynamics, optimization problems, nonlinear programming, numerical methods |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Nov 2008 08:15 |
| Letzte Änderung: | 16 Mai 2019 09:26 |
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