DocumentCode
2627750
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.
Volume
1
fYear
0
fDate
0-0 0
Firstpage
745
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Conference_Location
The Hague
ISSN
1062-922X
Print_ISBN
0-7803-8566-7
Type
conf
DOI
10.1109/ICSMC.2004.1398391
Filename
1398391
Link To Document