Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry

DOI10.1007/978-3-540-73890-9_15zbMATH Open1130.68097OpenAlexW34238080MaRDI QIDQ5436772FDOQ5436772

Authors: Satoshi Satoh, Kenji Fujimoto, Sang-Ho Hyon 

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_15

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zbMATH Keywords

optimal control

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Artificial intelligence for robotics (68T40) Hamilton's equations (70H05) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Iterative learning control of hamiltonian systems: I/O based optimal control approach

Cited In (4)

• Robot gait synthesis using the scheme of human motions skills development
• Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits
• A numerical method for solving the time-optimality problem with phase constraints for the simplest model of a one-legged hopping robot
• High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture

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