Open-loop stability -: A new paradigm for periodic optimal control and analysis of walking mechanisms

被引:0
|
作者
Mombaur, KD [1 ]
Bock, HG [1 ]
Schlöder, JP [1 ]
Longman, RW [1 ]
机构
[1] Heidelberg Univ, Interdisciplinary Ctr Sci Comp, D-6900 Heidelberg, Germany
来源
2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2004年
关键词
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 present paper deals with the numerical solution of periodic optimal design and control problems, such that the resulting optimal trajectories are open-loop stable. This means that under small perturbations the real process will asymptotically converge back to the periodic orbit without any feedback corrections. Open-loop stability is de ned in terms of the spectral radius of the monodromy matrix which is a dif cult non-standard optimization criterion. In particular we consider applications in one- and two-legged walking robots with point feet, which can not stand still stably, but will be shown to be able to walk or run in an open-loop stable way given the right con guration and control. This class of problems is characterized by discontinuous dynamics with impact, multiple motion phases and changing degrees of freedom. The numerical results which are obtained by a two-level optimization approach not only suggest that walking robots can be built without sophisticated feedback devices, but may also have an impact on understanding biomechanical motions and their stability.
引用
收藏
页码:704 / 709
页数:6
相关论文
共 50 条
  • [11] Numerical analysis of periodic open-loop flow control on bluff bodies in ground proximity
    Parkin, D.
    Sheridan, J.
    Thompson, M. C.
    JOURNAL OF WIND ENGINEERING AND INDUSTRIAL AERODYNAMICS, 2015, 145 : 339 - 350
  • [12] Approximating open-loop and closed-loop optimal control by model predictive control
    Dontchev, Asen L.
    Kolmanovsky, Ilya, V
    Krastanov, Mikhail, I
    Veliov, Vladimir M.
    2020 EUROPEAN CONTROL CONFERENCE (ECC 2020), 2020, : 190 - 195
  • [13] OPTIMAL OPEN-LOOP CONTROL OF AN ABSORPTION PROCESS WITH STATE AND CONTROL CONSTRAINTS
    KONTARATOS, D
    PINGLOT, D
    RAIRO-AUTOMATIQUE-SYSTEMS ANALYSIS AND CONTROL, 1979, 13 (02): : 203 - 217
  • [14] Optimal Open-Loop Control of Vacations, Polling and Service Assignment
    Eitan Altman
    Bruno Gaujal
    Arie Hordijk
    Queueing Systems, 2000, 36 : 303 - 325
  • [15] ELECTRICAL ACTIVATION OF MUSCLES FOR OPEN-LOOP WALKING
    MARSOLAIS, EB
    KOBETIC, R
    IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1983, 30 (08) : 554 - 554
  • [16] Optimal open-loop control of vacations, polling and service assignment
    Altman, E
    Gaujal, B
    Hordijk, A
    QUEUEING SYSTEMS, 2000, 36 (04) : 303 - 325
  • [17] EXPERIMENTAL EVALUATION OF TIME-OPTIMAL, OPEN-LOOP CONTROL
    NIEMAN, RE
    FISHER, DG
    TRANSACTIONS OF THE INSTITUTION OF CHEMICAL ENGINEERS, 1973, 51 (02): : 132 - 140
  • [18] Optimal open-loop control of vacations, polling and service assignment
    Altman, Eitan
    Gaujal, Bruno
    Hordijk, Arie
    2000, Kluwer Academic Publishers (36)
  • [19] Optimal Open-Loop Control Policies for a Class of Nonlinear Actuators
    Ramirez-Laboreo, Edgar
    Moya-Lasheras, Eduardo
    Sagues, Carlos
    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), 2019, : 3261 - 3266
  • [20] ON COMPARISON OF SENSITIVITIES OF OPEN-LOOP AND CLOSED-LOOP OPTIMAL CONTROL SYSTEMS
    YOULA, DC
    DORATO, P
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1968, AC13 (02) : 186 - &