Summary
International Symposium on Nonlinear Theory and its Applications
2010
Session Number:B3L-D
Session:
Number:B3L-D1
Discrete Gait Generation for the Compass-Type Biped Robot Modeled by Discrete Mechanics
Tatsuya KAI, Takeshi SHINTANI,
pp.434-437
Publication Date:2010/9/5
Online ISSN:2188-5079
Summary:
In this study, we consider a discrete gait generation method for the compass-type biped robot modeled by discrete mechanics. First, we derive the discrete compass-type biped robot model. Next, we define an optimal control problem on discrete gait generation and explain a sequential quadratic programming approach to the problem. A simulation is then illustrated to confirm the effectiveness of our method.