Parametric excitation based bipedal walking: control method and optimization

DOI10.3934/NACO.2011.1.171MaRDI QIDQ550523zbMATH OpenOpenAlexFDO

Authors Yuji Harata, Yoshihisa Banno, Kouichi Taji

Publication date 11 July 2011

Published in Numerical Algebra, Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3934/naco.2011.1.171

zbMATH Keywords

local searchparametric excitationdynamic walkingbiped walkingreference trajectory

Mathematics Subject Classification ID

Applications of mathematical programming (90C90) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(5)

• Control method of biped locomotion giving asymptotic stability of trajectory
• Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
• A sufficient condition of Euclidean rings given by polynomial optimization over a box
• Robust control design of autonomous bicycle kinematics
• Design of a robust self-excited biped walking mechanism

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