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...

in this paper, an efficient method for solving optimal control problemsof the linear differential systems with inequality constraint is proposed. by usingnew adjustment of hat basis functions and their operational matrices of integration,optimal control problem is reduced to an optimization problem. also, the erroranalysis of the proposed method is investigated and it is proved that the order o...

the aim of this work is to investigate the variational discretization and mixed finite element methods for optimal control problem governed by semi linear parabolic equations with integral constraint. the state and co-state are approximated by the lowest order raviart-thomas mixed finite element spaces and the control is not discreted. optimal error estimates in l2 are established for the state...