Optimization of the parameters of feet and the laws of motion of bipedal walking robots

DOI10.1007/s10958-023-06342-zOpenAlexW4323850659MaRDI QIDQ2696675

M. V. Demydyuk, B. A. Lytwyn

Publication date: 17 April 2023

Published in: Journal of Mathematical Sciences (New York) (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10958-023-06342-z

zbMATH Keywords

optimal controlparametric optimizationspline approximationnonlinear programmingmathematical simulationgait of bipedal robotoptimization of sizes of feet

Mathematics Subject Classification ID

Nonlinear programming (90C30) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Models, feedback control, and open problems of 3D bipedal robotic walking
• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• 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
• Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots
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