Publisher： Cambridge University Press
E-ISSN： 1469-8668|31|2|311-322
ISSN： 0263-5747
Source： Robotica, Vol.31, Iss.2, 2013-03, pp. : 311-322
Disclaimer: Any content in publications that violate the sovereignty, the constitution or regulations of the PRC is not accepted or approved by CNPIEC.
Abstract
This paper presents biped walking control using a library of optimal trajectories. Biped walking control is formulated as an optimal control problem. We use a parametric trajectory optimization method to find the periodic steady-state walking trajectory. As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.
Related content
Stable walking control of a 3D biped robot with foot rotation
Robotica, Vol. 32, Iss. 4, 2014-07 ,pp. :
Access to resources
Recommend
Closed loop trajectory control of walking machines
Robotica, Vol. 8, Iss. 1, 1990-01 ,pp. :
Balance control of planar biped robots using virtual holonomic constraints
Robotica, Vol. 34, Iss. 6, 2016-06 ,pp. :
An Approach to Biped Control Synthesis
Robotica, Vol. 7, Iss. 3, 1989-07 ,pp. :