A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control

Summary For periodic gait optimization problem of the bipedal walking robot, a class of global and feasible sequential quadratic programming algorithm (FSQPA) is proposed based on discrete mechanics and optimal control. The optimal controls and trajectories are solved by the modified FSQPA. The algo...

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Veröffentlicht in:	Optimal control applications & methods Jg. 37; H. 6; S. 1139 - 1161
Hauptverfasser:	Sun, Zhongbo, Tian, Yantao, Li, Hongyang, Wang, Jing
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Glasgow Blackwell Publishing Ltd 01.11.2016 Wiley Subscription Services, Inc
Schlagworte:	Algorithms bipedal walking robot Computer simulation discrete mechanics and optimal control Feasibility feasible sequential quadratic programming algorithm Gait global convergence Mathematical models Optimal control periodic gait Robots Walking
ISSN:	0143-2087, 1099-1514
Online-Zugang:	Volltext
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