Optimal motion synthesis -- dynamic modelling and numerical solving aspects

DOI10.1023/A:1020928112173MaRDI QIDQ1851113zbMATH OpenOpenAlexFDO

Authors Guy Bessonnet, Philippe Sardain, Stéphane Chessé

Publication date 15 December 2002

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

Full work available at URL https://doi.org/10.1023/a:1020928112173

zbMATH Keywords

optimal dynamicsmovement numerical synthesisoptimization using Pontryagin's maximum principle

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(18)

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• Recent advances on the algorithmic optimization of robot motion
• Energy-optimal control of unconstrained planar RR robot manipulators
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
• scientific article; zbMATH DE number 6295847 (Why is no real title available?)
• Human motion planning based on recursive dynamics and optimal control techniques
• Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects
• Optimal robot motions for physical criteria
• Motion optimization using Gaussian process dynamical models
• Optimal dynamics of actuated kinematic chains. I: Dynamic modelling and symbolic differentiations
• Discussion on: ``Optimal motion-cueing algorithm using motion system kinematics
• Energetic versus sthenic optimality criteria for gymnastic movement synthesis
• Numerical methods for diagnosis and therapy design of cerebral palsy by bilevel optimal control of constrained biomechanical multi-body systems
• Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators

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