Simultaneous design of optimal gait pattern and controller for a bipedal robot

DOI10.1007/S11044-009-9185-ZzbMATH Open1375.70024OpenAlexW2047160974MaRDI QIDQ968368FDOQ968368

Authors: B. E. Eshmatov 

Publication date: 5 May 2010

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

Full work available at URL: https://doi.org/10.1007/s11044-009-9185-z

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zbMATH Keywords

optimizationgenetic algorithmnonlinear controlbiped robotwalking pattern

Mathematics Subject Classification ID

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

Cites Work

• Title not available (Why is that?)
• Practical Genetic Algorithms
• The role of impact in the stability of bipedal locomotion
• Bipedal locomotion stabilized by impact and switching: I. Two-and three-dimensional, three-element models
• Bipedal locomotion stabilized by impact and switching: II. Structural stability analysis of a four-element bipedal locomotion model
• Control of a Dynamical Biped Locomotion System for Steady Walking
• Rigid body collisions of a special class of planar kinematic chains
• Lyapunov stability control of inverted pendulums with general base point motion
• On multiple impact
• Planning and control of a biped robot
• Mathematical models of general anthropomorphic systems
• Dynamic balance of a biped robot using fuzzy reinforcement learning agents
• Fuzzy-logic zero-moment-point trajectory generation for reduced trunk motions of biped robots
• Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms

Cited In (9)

• Title not available (Why is that?)
• 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
• Center of percussion and gait design of biped robots
• Gait tracking control of quadruped robot using differential evolution based structure specified mixed sensitivity \(H_{\infty}\) robust control
• Synthesis of optimal program law for movement of a robot with orthogonal walking drives
• Synergistic design of the bipedal lower-limb through multiobjective differential evolution algorithm
• Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms
• Hybrid disturbance rejection control of dynamic bipedal robots
• Numerical estimation of balanced and falling states for constrained legged systems

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