Optimization of motions of a universal multilink walking robot

MaRDI QIDQ1387008zbMATH OpenFDO

Authors D. Massart

Publication date 14 February 1999

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

zbMATH Keywords

automated systemsnoneconomic applications of optimal control theory and differential gamesoptimal periodic gaitsplanningrobotstime-optimal motionuniversal multilink walking robot

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Automated systems (robots, etc.) in control theory (93C85)

Review text

Some problems of planning the optimum programmed motions for a universal multilink walking robot capable of moving over complex surfaces arbitrarily inclined with respect to the horizontal surface are solved. A problem of time-optimal motion of the robot along a given track path is considered together with the problem of choosing a periodic gait ensuring the maximum average speed of motion. Optimal periodic gaits are found. Various types of gaits are compared. The overhead gait is shown to be faster than the sliding gait.

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