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Increasing stability in dynamic gaits using numerical optimization

Hardt, Michael ; Stryk, Oskar von (2002):
Increasing stability in dynamic gaits using numerical optimization.
In: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 1636-1641, pp. 1636-1641, Elsevier Science, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2002
Creators: Hardt, Michael ; Stryk, Oskar von
Title: Increasing stability in dynamic gaits using numerical optimization
Language: German
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.

Series Name: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 1636-1641
Publisher: Elsevier Science
Uncontrolled Keywords: walking, path planning, dynamic stability, robot dynamics, optimization problems, nonlinear programming, numerical methods
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Nov 2008 08:15
License: [undefiniert]
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