2013
DOI: 10.7763/lnse.2013.v1.52
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Abstract: Abstract-This paper concentrates on three important points: the selection of the suitable direct method used for suboptimal control of the biped robot, the selection of the appropriate nonlinear programming (NLP) algorithm that searches for the global minimum rather than the local minimum, and the effect of different constraints on the energy of the biped robot. To perform the mentioned points, the advantages and disadvantages of the optimal control methods were illustrated. The inverse-dynamics based optimiza… Show more

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Cited by 10 publications
(7 citation statements)
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“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”
Section: Six-link Biped Robotmentioning
confidence: 99%
See 1 more Smart Citation
“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”
Section: Six-link Biped Robotmentioning
confidence: 99%
“…The ZMP location coincides with the location of the center of pressure for the balance walking; however, this is not the case for unbalanced walking. See[47][48][49][50][51][52][53][54][55][56][57] and the references therein for more details.…”
mentioning
confidence: 99%
“…Offline walking patterns do not need multi-level controllers, because they have been prepared in advance to satisfy the dynamic/kinematic constraints. 65,69,70,102 It needs only low-level control to track the desired angular joint trajectories.…”
Section: Zmp-based Controlmentioning
confidence: 99%
“…Numerous approaches have been used to generate the motion of biped robot. However, there are three efficient methods have been used successfully for this purpose: Optimization-based gait, COG-based gait and the interpolation-based gait [5][6][7][8]; see the references therein. Despite the miscellaneous walking pattern generation and stabilization approaches, it is difficult to find a thorough method that can tune the walking parameters to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints.…”
Section: Introductionmentioning
confidence: 99%