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Gait Generation for the Compass-Type Biped Robot on General Irregular Grounds Via a New Blending Method of Discrete Mechanics and Nonlinear optimization

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Abstract

This paper develops a unified gait generation method based on discrete mechanics and nonlinear optimization technique for the compass-type biped robot on general irregular grounds. First, we derive the models of continuous-time/discrete-time compass-type biped robot (DCBR/CCBR). Next, a discrete gait generation problem on an irregular ground for the DCBR as a finite-dimensional nonlinear optimal control problem is formulated, and a solving method of it with the sequential quadratic programming is presented. Then, a transformation method of a discrete-time input into a continuous-time one is shown. Finally, some numerical simulations are illustrated to verify the effectiveness of our new approach. As a result, it is confirmed that the new method can generate stable gaits for the CCBR on various irregular grounds.

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Authors and Affiliations

  1. Department of Applied Electronics, Faculty of Industrial Science and Technology, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo, 125-8585, Japan

    Tatsuya Kai & Tomohiko Shibata

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  1. Tatsuya Kai
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  2. Tomohiko Shibata
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Correspondence to Tatsuya Kai.

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Kai, T., Shibata, T. Gait Generation for the Compass-Type Biped Robot on General Irregular Grounds Via a New Blending Method of Discrete Mechanics and Nonlinear optimization. J Control Autom Electr Syst 26, 484–492 (2015). https://doi.org/10.1007/s40313-015-0192-4

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  • DOI: https://doi.org/10.1007/s40313-015-0192-4

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