Optimal trajectories for a quadruped robot with `Trot', `Amble' and `Curvet' gaits for two energetic criteria

DOI10.1023/A:1021674132276MaRDI QIDQ1855337zbMATH OpenOpenAlexFDO

Authors A. Muraro, Christine Chevallereau, Yannick Aoustin

Publication date 4 February 2003

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

Full work available at URL https://doi.org/10.1023/a:1021674132276

zbMATH Keywords

algebraic optimizationwalking robotkinetic momentum

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cited in

(10)

• Optimal gait generation for quadruped robots using mesh adaptive direct search
• Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects
• Virtual quadruped: Mechanical design, control, simulation, and experimentation
• Energetic consistency conditions for standard impacts. II: Poisson-type inequality impact laws
• Numerical and experimental study of the virtual quadrupedal walking robot-SemiQuad
• Static gait optimization method for quadruped robot based on particle swarm optimization algorithm
• Discretized mid-value CLVI-PDNN based redundancy resolution for single leg of quadruped robot
• Dynamical synthesis of a walking cyclic gait for a biped with point feet
• Bioinspired and Energy-Efficient Convex Model Predictive Control for a Quadruped Robot
• Energetic versus sthenic optimality criteria for gymnastic movement synthesis

Describes a project that uses

Uses Software

• Matlab

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