Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots

DOI10.1002/zamm.200310068zbMath1063.70006OpenAlexW2123073527MaRDI QIDQ4432798

Michael Hardt, Oskar von Stryk

Publication date: 29 October 2003

Published in: ZAMM (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/zamm.200310068

zbMATH Keywords

dynamically stable gaitsnumerical optimal control methodrecursive multibody algorithms

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Related Items

Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints ⋮ Optimization of the parameters of feet and the laws of motion of bipedal walking robots ⋮ Ball-and-finger system: modeling and optimal trajectories ⋮ Investigation of the effects of human body stability on joint angles' prediction

Uses Software

• SNOPT
• Dymola