A method for determination of optimal gaits with application to a snake-like serial-link structure

DOI10.1109/TAC.2005.854583zbMath1365.70036MaRDI QIDQ5274140

Kazufumi Ito, Gregory Hicks

Publication date: 12 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Multistep, Runge-Kutta and extrapolation methods for ordinary differential equations (65L06) Discrete approximations in optimal control (49M25)

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Control of Natural Oscillation Gait for Mechanical Locomotors in Three Dimensional Space ⋮ Exploiting natural dynamics for gait generation in undulatory locomotion

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