BipedWalking Control Using Offline and Online Optimization
The paper is aimed at an energetically ef.cient control method for biped walking. The walking cycle is composed of successive single-support phases and passive impacts. A parametric trajectory optimization method is implemented that.nds symmetric, periodic, low torque walking gaits for a planar 5-link biped robot of.ine. The robot抯 con.guration is then regulated by RHC (receding horizon control) with the same optimization criterion online. Only the geometric evolution of the robot抯 con.guration is controlled, but not the temporal evolution. The effectiveness of the proposed method is evaluated using simulated walking control. The results show lower torques and more robustness from the proposed controller compared to a hand-tuned PD servo based walking controller.
LIU Chenggang SU Jianbo
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）