Article thumbnail

Towards optimal hybrid control solutions for gait patterns of a quadruped

By M Hardt and O von Stryk

Abstract

We consider the problem of finding optimal gaits for a quadruped robot. Paths are sought which minimize the actuation energy required for walking in an attempt to approximate natural motion. The number of possible gaits for a quadruped is quite large when one considers varied orders of leg motion, different liftoff times, and various ground contact combinations for the legs. The problem is treated as a fully nonlinear optimal hybrid path planning problem on a 22dimensional state space. Modeling aspects, our numerical approach, and experimental results are discussed in this paper

Year: 2000
OAI identifier: oai:CiteSeerX.psu:10.1.1.170.8296
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://www.sim.informatik.tu-d... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.