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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Bibliographic Details

Published in:	Optimal control applications & methods Vol. 37; no. 6; pp. 1139 - 1161
Main Authors:	Sun, Zhongbo, Tian, Yantao, Li, Hongyang, Wang, Jing
Format:	Journal Article
Language:	English
Published:	Glasgow Blackwell Publishing Ltd 01.11.2016 Wiley Subscription Services, Inc
Subjects:	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 Access:	Get full text
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