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7 May 2010 Optimal powering schemes for legged robotics
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Legged Robots have tremendous mobility, but they can also be very inefficient. These inefficiencies can be due to suboptimal control schemes, among other things. If your goal is to get from point A to point B in the least amount of time, your control scheme will be different from if your goal is to get there using the least amount of energy. In this paper, we seek a balance between these extremes by looking at both efficiency and speed. We model a walking robot as a rimless wheel, and, using Pontryagin's Maximum Principle (PMP), we find an "on-off" control for the model, and describe the switching curve between these control extremes.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Paul Muench, David Bednarz, Gregory P. Czerniak, and Ka C Cheok "Optimal powering schemes for legged robotics", Proc. SPIE 7692, Unmanned Systems Technology XII, 769214 (7 May 2010);

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