このエントリーをはてなブックマークに追加
ID 32982
file
title alternative
A Gait Generation Framework via Learning Optimal Control Considering Discontinuous State Transitions
creator
Fujimoto, Kenji
Hyon, Sang-Ho
subject
Iterative Learning Control
Gait Generation
Biped Robots
Hamiltonian Systems
NDC
Electrical engineering
abstract
This paper is concerned with a gait generation framework for legged robots based on iterative learning control (ILC) of Hamiltonian systems. This method allows one to obtain solutions to a class of optimal control problems by iteration of laboratory experiments and, furthermore, precise knowledge of the plant model is not required for it by taking advantage of a symmetric property of Hamiltonian systems. Generally in walking motion, there are discontinuous state transitions caused by collision between the foot and the ground. The proposed framework can also deal with such state transitions without using the parameters of the transition model by combining ILC method and the least-squares. It is applied to a compass-like biped robot to generate optimal gait on the level ground. Some numerical examples demonstrate the effectiveness of the proposed method.
journal title
日本ロボット学会誌
volume
Volume 29
issue
Issue 2
start page
212
end page
222
date of issued
2011-02-20
publisher
日本ロボット学会
issn
0289-1824
ncid
publisher doi
language
jpn
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
Copyright (c) 2011 日本ロボット学会
relation is version of URL
http://dx.doi.org/10.7210/jrsj.29.212
department
Graduate School of Engineering



Last 12 months's access : ? times
Last 12 months's DL: ? times


This month's access: ? times
This month's DL: ? times