Resumen
This paper presents the design of walking motions of a biped robot by a computational intelligent method. The proposed method finds the parameters of the output functions that produce such motion in the closed-loop system which fulfill the requirements of stability and minimal energy control by formulating a constrained optimization problem. A set of parameters which produces periodic motions with low energy control magnitudes and its closed-loop system trajectories are shown through a numerical study case of a 3-DOF biped robot.
Idioma original | Inglés |
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Páginas (desde-hasta) | 5306-5314 |
Número de páginas | 9 |
Publicación | Applied Soft Computing Journal |
Volumen | 11 |
N.º | 8 |
DOI | |
Estado | Publicada - dic. 2011 |
Publicado de forma externa | Sí |