文章基本信息

标题：A Gait Optimization Smoothing Penalty Function Method for Bipedal Robot via DMOC * .
本地全文：下载
作者：Zhongbo Sun ; Hongyang Li ; Jing Wang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：28
页码：1148-1153
DOI：10.1016/j.ifacol.2015.12.286
语种：English
出版社：Elsevier
摘要：AbstractFor periodic gait optimization problem of bipedal walking robot, based on discrete mechanics and optimal control (DMOC), a class of smoothing penalty function method is proposed. The optimal control strategy and trajectory are solved by a new smoothing exact penalty function algorithm. The algorithm can quickly converge to a stable gait cycle independent the selection of the initial gait, otherwise, the algorithm only needs one step correction and then generate a stable gait cycle. Numerical simulation results show that the algorithm is feasible and effective. The algorithm makes the bipedal robot walk efficiently and stably on the even terrain.
关键词：KeywordsBipedal robotSmoothing penalty function methodDiscrete mechanics and optimal controlUnconstrained optimization problemModified conjugate gradient method