Optimal Gait Generation via Trajectory Learning and Robot Parameter Tuning Based on Learning Optimal Control

2013 ◽  
Vol 49 (9) ◽  
pp. 846-854
Author(s):  
Satoshi SATOH ◽  
Kenji FUJIMOTO ◽  
Masami SAEKI
Keyword(s):  
Optimal Control ◽  
Parameter Tuning ◽  
Gait Generation ◽  
Optimal Gait ◽  
Trajectory Learning

scholarly journals Gait generation via unified learning optimal control of Hamiltonian systems

Robotica ◽  
2013 ◽  
Vol 31 (5) ◽  
pp. 717-732 ◽  
Author(s):  
Satoshi Satoh ◽  
Kenji Fujimoto ◽  
Sang-Ho Hyon
Keyword(s):  
Optimal Control ◽  
Hamiltonian Systems ◽  
Control Method ◽  
Biped Robot ◽  
Learning Control ◽  
Parameter Tuning ◽  
Tuning Parameter ◽  
Gait Generation ◽  
Optimal Control Method ◽  
Trajectory Learning

SUMMARYThis paper proposes a repetitive control type optimal gait generation framework by executing learning control and parameter tuning. We propose a learning optimal control method of Hamiltonian systems unifying iterative learning control (ILC) and iterative feedback tuning (IFT). It allows one to simultaneously obtain an optimal feedforward input and tuning parameter for a plant system, which minimizes a given cost function. In the proposed method, a virtual constraint by a potential energy prevents a biped robot from falling. The strength of the constraint is automatically mitigated by the IFT part of the proposed method, according to the progress of trajectory learning by the ILC part.

scholarly journals Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Biped Robots ◽  
10.5772/13871 ◽  
2011 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Masahiro Ohk
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Biped Locomotion ◽  
Gait Generation ◽  
Optimal Gait

CHAOTIFYING FUZZY HYPERBOLIC MODEL USING ADAPTIVE INVERSE OPTIMAL CONTROL APPROACH

2004 ◽  
Vol 14 (10) ◽  
pp. 3505-3517 ◽  
Author(s):  
HUAGUANG ZHANG ◽  
ZHILIANG WANG ◽  
DERONG LIU
Keyword(s):  
Optimal Control ◽  
Chaotic System ◽  
Parameter Tuning ◽  
Hyperbolic Model ◽  
Inverse Optimal Control ◽  
Control Approach ◽  
Adaptive Parameter ◽  
System A ◽  
Tuning Methods ◽  
Optimal Control Approach

In this paper, the problem of chaotifying the continuous-time fuzzy hyperbolic model (FHM) is studied. By tracking the dynamics of a chaotic system, a controller based on inverse optimal control and adaptive parameter tuning methods is designed to chaotify the FHM. Simulation results show that for any initial value the FHM can track a chaotic system asymptotically.

Optimal Gait Design for Systems With Drift on SO(3)

2013 ◽  
Author(s):  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Angular Momentum ◽  
Control Method ◽  
Three Dimensional ◽  
Free Flight ◽  
Gait Generation ◽  
Geometric Methods ◽  
Wide Range ◽  
Optimal Gait ◽  
Computational Reduction ◽  
Inertial Systems

Geckos that jump, cats that fall, and satellites that are inertially controlled fundamentally locomote in the same way. These systems are bodies in free flight that actively reorientate under the influence of conservation of angular momentum. We refer to such bodies as inertial systems. This work presents a novel control method for inertial systems with drift that combines geometric methods and computational control. In previous work, which focused on inertial systems starting from rest, a set of visual tools was developed that readily allowed on to design gaits. A key insight of this work was deriving coordinates, called minimum perturbation coordinates, which allowed the visual tools to be applied to the design of a wide range of motions. This paper draws upon the same insight to show that it is possible to approximately analyze the kinematic and dynamic contributions to net motion independently. This approach is novel because it uses geometric tools to support computational reduction in automatic gait generation on three-dimensional spaces.

Periodic Gait Generation via Repetitive Optimal Control of Hamiltonian Systems

2011 ◽  
Vol 44 (1) ◽  
pp. 6912-6917
Author(s):  
Satoshi Satoh ◽  
Kenji Fujimoto ◽  
Sang-Ho Hyon
Keyword(s):  
Optimal Control ◽  
Hamiltonian Systems ◽  
Gait Generation
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