Structure Preserving Optimal Control of Three-Dimensional Compass Gait
Leyendecker S, Pekarek D, Marsden JE (2013)
Publication Language: English
Publication Type: Book chapter / Article in edited volumes
Publication year: 2013
Publisher: Springer
Edited Volumes: Modeling, Simulation and Optimization of Bipedal Walking
Series: Cognitive Systems Monographs
City/Town: Berlin Heidelberg
Book Volume: 18
Pages Range: 99-116
DOI: 10.1007/978-3-642-36368-9_8
Abstract
The benefits of structure preserving algorithms for the numerical time-integration of mechanical systems, also called mechanical integrators, are widely accepted in forward dynamic simulations. However, in the field of motion planning and optimal control via direct methods, so far, these benefits have been less used. The dynamic optimisation method DMOC, does exploit the structure preserving properties of a variational integrator within an optimal control problem. This work considers the optimal control of a bipedal compass gait by modeling the double stance configuration as a transfer of contact constraints between the feet and the ground and develops a structure preserving simulation method for this context.
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APA:
Leyendecker, S., Pekarek, D., & Marsden, J.E. (2013). Structure Preserving Optimal Control of Three-Dimensional Compass Gait. In Mombaur K, Berns K (Eds.), Modeling, Simulation and Optimization of Bipedal Walking. (pp. 99-116). Berlin Heidelberg: Springer.
MLA:
Leyendecker, Sigrid, David Pekarek, and Jerrold E. Marsden. "Structure Preserving Optimal Control of Three-Dimensional Compass Gait." Modeling, Simulation and Optimization of Bipedal Walking. Ed. Mombaur K, Berns K, Berlin Heidelberg: Springer, 2013. 99-116.
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