Biped Walking Control Using Offline and Online Optimization

被引：0

作者：

Liu Chenggang ^{[1
]}

Su Jianbo ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Biped Walking; Gait Optimization; Receding Horizon Control; RECEDING HORIZON CONTROL; ROBOT;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper is aimed at an energetically efficient 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 finds symmetric, periodic, low torque walking gaits for a planar 5-link biped robot offline. The robot's configuration is then regulated by RHC (receding horizon control) with the same optimization criterion online. Only the geometric evolution of he robot's configuration 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.

引用

页码：3472 / 3477

页数：6

共 21 条

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