Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Optimal gaits for dynamic robotic locomotion
J. Cortés, S. Martínez, J.P. Ostrowski, K.A. McIsaac
International Journal of Robotics Research 20 (9) (2001), 707-728
Abstract
This paper addresses the optimal control and selection of gaits in a
class of dynamic locomotion systems that exhibit group symmetries. We
study near-optimal gaits for an underwater eel-like robot, though the
tools and analysis can be applied more broadly to a large family of
nonlinear control systems with drift. The approximate solutions to the
optimal control problem are found using a truncated basis of cyclic
input functions. This generates feasible paths that approach the
optimal one as the number of basis functions is increased. We describe
an algorithm to obtain numerical solutions to this problem and present
simulation results that demonstrate the types of solutions that can be
achieved. Comparisons are made with experimental data using the REEL
robot platform.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo