Multiphase trajectory generation for planar biped robot using direct collocation method

DOI10.1155/2021/6695528zbMath1512.70003MaRDI QIDQ6483688

Shuai Heng, Jie Zhao, Zhenkun Lin, Yu-Bin Liu, Xizhe Zang

Publication date: 3 May 2021

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Existence theories for optimal control problems involving ordinary differential equations (49J15) Biomechanics (92C10) Finite element, Rayleigh-Ritz, Galerkin and collocation methods for ordinary differential equations (65L60) Decomposition methods (49M27)

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