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Numerical Method for the Time-Optimal Response Problem with Phase Constraints for the Simplest Model of a One-Legged Jumping Robot

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We propose a numerical method for the solution of the problem of speed action with phase restrictions for the model of jumping one-legged robot and present sufficient conditions for the convergence of the algorithm as well as the results of numerical simulations.

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Authors and Affiliations

  1. Lomonosov Moscow State University, Faculty of Computation Mathematics and Cybernetics, Moscow, Russia

    E. A. Rovenskaya

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  1. E. A. Rovenskaya
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Translated from Problemy Dinamicheskogo Upravleniya, Issue 1, 2005, pp. 253–267.

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Rovenskaya, E.A. Numerical Method for the Time-Optimal Response Problem with Phase Constraints for the Simplest Model of a One-Legged Jumping Robot. Comput Math Model 25, 204–217 (2014). https://doi.org/10.1007/s10598-014-9220-7

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  • DOI: https://doi.org/10.1007/s10598-014-9220-7

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