The piecewise constant method in gait design through optimization

The piecewise constant method in gait design through optimization

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摘要 The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem. The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.

作者 Yizhen Wei

机构地区 Sino-German School of Tongji University

出处《无线互联科技》 2014年第8期138-139,148,共3页 Wireless Internet Technology

关键词机器人控制方法常数静态问题 gait design the piecewise constant method under actuated biped robot

分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]

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The piecewise constant method in gait design through optimization

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