Name: Computational Optimal Control of a Biped Robot (en Inglés)
SKU: 63484214
Price: 57.44 USD
Availability: InStock
Author: Hayder Al-Shuka
ISBN: 9786207996346

portada Computational Optimal Control of a Biped Robot (en Inglés)

Computational Optimal Control of a Biped Robot (en Inglés)

Formato

Libro Físico

Editorial

Lap Lambert Academic Publishing

Autor

Hayder Al-Shuka

Idioma

Inglés

N° páginas

Encuadernación

Tapa Blanda

ISBN13

9786207996346

Computational Optimal Control of a Biped Robot (en Inglés)

Hayder Al-Shuka (Autor) · Lap Lambert Academic Publishing · Tapa Blanda

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Reseña del libro "Computational Optimal Control of a Biped Robot (en Inglés)"

Biped robots have been a focus of research for decades, aiming to assist or replace humans in specific tasks. Studying these robots is crucial for understanding human locomotion and enhancing control strategies for prosthetic and orthotic limbs. However, design challenges include: (1) instability due to passive joints at the single foot-ground contact; (2) variations in configuration when transitioning between walking phases-under-actuated during single support and over-actuated during double support; (3) multiple degrees of freedom (DOFs); and (4) interaction with unknown environments. This work addresses offline computational optimal control strategies for zero-moment point (ZMP)-based biped robots. By applying computational optimal control, we examine the impact of constraints on locomotion, such as maintaining the swing foot parallel to the ground and keeping hip motion at a constant height. A finite difference method translates the infinite-dimensional optimal control problem into a finite-dimensional suboptimal one, followed by parameter optimization to derive suboptimal trajectories under various constraints.