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Optimal power loss motion planning in legged robots

Published online by Cambridge University Press:  19 August 2014

Alain Segundo Potts and
José Jaime da Cruz
Alain Segundo Potts*
Affiliation:
Center of Engineering, Modeling and Applied Social Sciences, Federal University of ABC, São Paulo, Brazil
José Jaime da Cruz
Affiliation:
Telecommunications and Control Department, University of São Paulo, São Paulo, Brazil
*
*Corresponding author. E-mail: alain_2do@yahoo.com
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Summary

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An iterative algorithm to minimize energy loss in kinematic chains is proposed. This algorithm is designed to low level of control where variables such as terminal states, runtime, and physical and electrical parameters of the movement are given by higher levels of control. An original complex problem of optimization is transformed into a simple quadratic programming problem subject to linear constraints by discretizing all dynamic system variables. The whole system is then converted into a recursive matrix equation that is solved iteratively. A proof of convergence is suggested. The performance of the algorithm is illustrated by using it in the motion planning of a quadruped robot.

Keywords

Optimal controlQuadratic programmingRobot controlLegged robots

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016, pp. 423 - 448
Copyright
Copyright © Cambridge University Press 2014 

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