Summary
the 2014 International Symposium on Nonlinear Theory and its Applications
2014
Session Number:A1L-B
Session:
Number:A1L-B2
Obstacle Avoidance Control for the Compass-type Biped Robot via Discrete Mechanics : Circular Obstacle Case
Tatsuya Kai,
pp.24-27
Publication Date:2014/9/14
Online ISSN:2188-5079
Summary:
This paper develops circular obstacle avoidance control of the compass-type biped robot. First, a sufficient condition such that the swing leg does not collide the circular obstacle is derived. Next, an optimal control problem for the discrete compass-type robot is formulated and a solving method of the problem by the sequential quadratic programming is presented in order to calculate a discrete control input. Then, a transformation method from a discrete control input into a continuous zero-order hold input based on discrete Lagrange-d’Alembert principle is explained. As a result of numerical simulations, it turns out that obstacle avoidance control for the continuous compass-type robot is achieved by the proposed method.