Towards Optimal Hybrid Control Solutions for Gait Patterns of a Quadruped
نویسنده
چکیده
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.
منابع مشابه
Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملBio-inspired Optimal Locomotion Reconfigurability of Quadruped Rovers using Central Pattern Generators
Legged rovers are often considered as viable solutions for traversing unknown terrain. This work addresses the optimal locomotion reconfigurability of quadruped rovers, which consists of obtaining optimal locomotion modes, and transitioning between them. A 2D sagittal plane rover model is considered based on a domestic cat. Using a Genetic Algorithm, the gait, pose and control variables that mi...
متن کاملCombining Automated Planning and Hybrid Control: A Quadruped Bouncing Gait
This proposed thesis topic aims to combine automated planning and hybrid control techniques. In this paper we describe a particular case study in this direction: the development of a quadruped bouncing gait with four qualitative states, quad-stance, touch-off, flight, and touchdown. Our approach is novel in that gait achievement is defined in terms of flexible constraint windows in statespace a...
متن کاملPareto-optimal Solutions for Multi-objective Optimal Control Problems using Hybrid IWO/PSO Algorithm
Heuristic optimization provides a robust and efficient approach for extracting approximate solutions of multi-objective problems because of their capability to evolve a set of non-dominated solutions distributed along the Pareto frontier. The convergence rate and suitable diversity of solutions are of great importance for multi-objective evolutionary algorithms. The focu...
متن کاملLocomotion Control for Electrically Powered Quadruped Robot Dynarobin
This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy ...
متن کامل