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Published 2007 | Published
Book Section - Chapter Open

Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped

Abstract

This paper presents a methodology for generating locally optimal control policies for simple hybrid mechanical systems, and illustrates the method on the compass gait biped. Principles from discrete mechanics are utilized to generate optimal control policies as solutions of constrained nonlinear optimization problems. In the context of bipedal walking, this procedure provides a comparative measure of the suboptimality of existing control policies. Furthermore, our methodology can be used as a control design tool; to demonstrate this, we minimize the specific cost of transport of periodic orbits for the compass gait biped, both in the fully actuated and underactuated case.

Additional Information

© 2007 IEEE. Issue Date: 12-14 Dec. 2007; Date of Current Version: 21 January 2008. The authors gratefully acknowledge James Martin for his discussions and resources regarding the implementation of the DMOC method, and Robert Gregg for his assistance in developing code for the bipedal walker. JEM was partially supported by AFOSR Contract FA9550-05-1-0343.

Attached Files

Published - Pekarek2007p8747Proceedings_Of_The_46Th_Ieee_Conference_On_Decision_And_Control_Vols_1-14.pdf

Files

Pekarek2007p8747Proceedings_Of_The_46Th_Ieee_Conference_On_Decision_And_Control_Vols_1-14.pdf

Additional details

Created:
August 19, 2023
Modified:
January 13, 2024