Motion control of biped robot based on parametric optimum

Qiubo Zhong; Qishu Pan; Bingrong Hong; Songhao Piao

Motion control of biped robot based on parametric optimum

Qiubo Zhong^*
, Qishu Pan
, Bingrong Hong
, Songhao Piao

^*Corresponding author for this work

School of Computer Science and Technology, Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

According to the complexity of optimal control for the process of falling motion, a method based on parametric control and the enhancing technique is presented. The piece-wise constant value is used to approach the optimal solution of optimal control problem. Moreover, the optimal parameters can be calculated by using the common mathematical programming. Numerical results are presented for illustration and experiments are carried out on real robots.

Original language	English
Pages (from-to)	220-222
Number of pages	3
Journal	Chinese Journal of Electronics
Volume	19
Issue number	2
State	Published - Apr 2010
Externally published	Yes

Keywords

Biped robot
Enhancing technique
Motion control

Cite this

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title = "Motion control of biped robot based on parametric optimum",

abstract = "According to the complexity of optimal control for the process of falling motion, a method based on parametric control and the enhancing technique is presented. The piece-wise constant value is used to approach the optimal solution of optimal control problem. Moreover, the optimal parameters can be calculated by using the common mathematical programming. Numerical results are presented for illustration and experiments are carried out on real robots.",

keywords = "Biped robot, Enhancing technique, Motion control",

author = "Qiubo Zhong and Qishu Pan and Bingrong Hong and Songhao Piao",

year = "2010",

month = apr,

language = "英语",

volume = "19",

pages = "220--222",

journal = "Chinese Journal of Electronics",

issn = "1022-4653",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

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TY - JOUR

T1 - Motion control of biped robot based on parametric optimum

AU - Zhong, Qiubo

AU - Pan, Qishu

AU - Hong, Bingrong

AU - Piao, Songhao

PY - 2010/4

Y1 - 2010/4

N2 - According to the complexity of optimal control for the process of falling motion, a method based on parametric control and the enhancing technique is presented. The piece-wise constant value is used to approach the optimal solution of optimal control problem. Moreover, the optimal parameters can be calculated by using the common mathematical programming. Numerical results are presented for illustration and experiments are carried out on real robots.

AB - According to the complexity of optimal control for the process of falling motion, a method based on parametric control and the enhancing technique is presented. The piece-wise constant value is used to approach the optimal solution of optimal control problem. Moreover, the optimal parameters can be calculated by using the common mathematical programming. Numerical results are presented for illustration and experiments are carried out on real robots.

KW - Biped robot

KW - Enhancing technique

KW - Motion control

UR - https://www.scopus.com/pages/publications/77951950561

M3 - 文章

AN - SCOPUS:77951950561

SN - 1022-4653

VL - 19

SP - 220

EP - 222

JO - Chinese Journal of Electronics

JF - Chinese Journal of Electronics

IS - 2

ER -

Motion control of biped robot based on parametric optimum

Abstract

Keywords

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