Simultaneous design of optimal gait pattern and controller for a bipedal robot

DOI10.1007/s11044-009-9185-zzbMath1375.70024OpenAlexW2047160974MaRDI QIDQ968368

B. E. Eshmatov

Publication date: 5 May 2010

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-009-9185-z

zbMATH Keywords

optimizationnonlinear controlgenetic algorithmbiped robotwalking pattern

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Numerical estimation of balanced and falling states for constrained legged systems ⋮ Hybrid disturbance rejection control of dynamic bipedal robots

Cites Work

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• The role of impact in the stability of bipedal locomotion
• Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• Rigid body collisions of a special class of planar kinematic chains
• Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms
• Practical Genetic Algorithms

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