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Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped

Pekarek, David and Ames, Aaron D. and Marsden, Jerrold E. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped. In: 46th IEEE Conference on Decision and Control. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5376-5382. ISBN 978-1-4244-1497-0.

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This paper presents a methodology for generating locally optimal control policies for simple hybrid mechanical systems, and illustrates the method on the compass gait biped. Principles from discrete mechanics are utilized to generate optimal control policies as solutions of constrained nonlinear optimization problems. In the context of bipedal walking, this procedure provides a comparative measure of the suboptimality of existing control policies. Furthermore, our methodology can be used as a control design tool; to demonstrate this, we minimize the specific cost of transport of periodic orbits for the compass gait biped, both in the fully actuated and underactuated case.

Item Type:Book Section
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Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2007 IEEE. Issue Date: 12-14 Dec. 2007; Date of Current Version: 21 January 2008. The authors gratefully acknowledge James Martin for his discussions and resources regarding the implementation of the DMOC method, and Robert Gregg for his assistance in developing code for the bipedal walker. JEM was partially supported by AFOSR Contract FA9550-05-1-0343.
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Air Force Office of Scientific Research (AFOSR)FA9550-05-1-0343
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INSPEC Accession Number9885394
Series Name:Proceedings IEEE Conference on Decision and Control
Record Number:CaltechAUTHORS:20101005-121327216
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Official Citation:Pekarek, D.; Ames, A.D.; Marsden, J.E.; , "Discrete mechanics and optimal control applied to the compass gait biped," Decision and Control, 2007 46th IEEE Conference on , vol., no., pp.5376-5382, 12-14 Dec. 2007 doi: 10.1109/CDC.2007.4434296 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20306
Deposited On:14 Oct 2010 17:08
Last Modified:08 Nov 2021 23:58

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