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Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots. (English) Zbl 1063.70006

Summary: We discuss fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability, and design. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires handling the nonlinear dynamical effects and stability. Here we presenet reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both bipedal and quadrupedal gaits.

MSC:

70E60 Robot dynamics and control of rigid bodies
70E50 Stability problems in rigid body dynamics
93C85 Automated systems (robots, etc.) in control theory
70-08 Computational methods for problems pertaining to mechanics of particles and systems

Software:

SNOPT; Dymola
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