Name
Title | ||
|---|---|---|
Optimization-based generation and experimental validation of optimal walking trajectories for biped robots |
Abstract | ||
|---|---|---|
In this paper the generation of walking gaits for biped robots is addressed as a nonlinear optimization problem. The latter presents an efficient formulation, which only requires parameterizing the joint states and does not require to integrate the equations of motion. The results of the optimization are applied to a real robot, with the aid of a suitable stabilizing controller. The final gain in optimized cost is assessed, for the real system. The experimental results confirm the effectiveness of the method. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6386154 | Intelligent Robots and Systems |
Keywords | Field | DocType |
legged locomotion,nonlinear programming,stability,biped robots,equations of motion,experimental validation,joint states,nonlinear optimization problem,optimal walking trajectories,optimization-based generation,stabilizing controller,walking gait generation | Control theory,Gait,Control theory,Computer science,Nonlinear programming,Nonlinear optimization problem,Control engineering,Equations of motion,Robot,Trajectory | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 7 |
PageRank | References | Authors |
0.71 | 10 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alexander Werner | 1 | 9 | 3.19 |
| Roberto Lampariello | 2 | 79 | 9.97 |
| Christian Ott | 3 | 1527 | 128.37 |