Periodic Gait Generation via Repetitive Optimal Control of Hamiltonian Systems
نویسندگان
چکیده
Abstract: This paper proposes an optimal gait generation framework based on a property of Hamiltonian systems. A key technique is a unified method of learning control and parameter tuning. The proposed method allows one to simultaneously obtain an optimal feedforward input and an optimal tuning parameter for a plant system, which (at least locally) minimize a cost function. It is a repetitive control type optimal gait generation framework, since its iteration procedure is automatically executed and eventually an optimal periodic trajectory is generated.
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تاریخ انتشار 2011