Title :
A study on optimal gait pattern of a quadruped locomotion robot
Author :
Tsujita, Katsuyoshi ; Kawakami, Manabu ; Tsuchiya, Kazuo
Author_Institution :
Dept. of Aeronaut. & Astronautics, Kyoto Univ.
Abstract :
This article deals with the optimal gait pattern in terms of the proposed control system. The phase difference among the oscillators is selected as the optimization variable. The duty ratio is selected as the optimization parameter. The performance index is constructed as a quadratic form of the input torque vector at the joints. The simulated annealing (SA) method is used as the optimization algorithm to numerically derived the optimal gait patterns according to the various duty ratios
Keywords :
legged locomotion; optimal control; performance index; simulated annealing; torque; input torque vector; optimal gait pattern; optimization variable; performance index; quadruped locomotion robot; simulated annealing; Control systems; Leg; Legged locomotion; Motion control; Optimal control; Oscillators; Oxygen; Robot kinematics; Simulated annealing; Torque;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Conference_Location :
The Hague
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1398391
