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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Vydáno v:Optimal control applications & methods Ročník 37; číslo 6; s. 1139 - 1161
Hlavní autoři: Sun, Zhongbo, Tian, Yantao, Li, Hongyang, Wang, Jing
Médium: Journal Article
Jazyk:angličtina
Vydáno: Glasgow Blackwell Publishing Ltd 01.11.2016
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Témata:
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
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Shrnutí: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 algorithm can rapidly converge to a stable gait cycle by selecting an appropriate initial gait; otherwise, the algorithm only needs one step correction that generates a stable gait cycle. Under appropriate conditions, we provide a rigorous proof of global convergence and well‐defined properties for the FSQPA. Numerical results show that the algorithm is feasible and effective. Meanwhile, it reveals the movement mechanism in the process of bipedal dynamic walking, which is the velocity oscillations. Furthermore, we overcome the oscillatory behavior via the FSQPA, which makes the bipedal robot walk efficiently and stably on even terrain. The main result is illustrated on a hybrid model of a compass‐like robot through simulations and is utilized to achieve bipedal locomotion via FSQPA. To demonstrate the effectiveness of the high‐dimensional bipedal robot systems, we will conduct numerical simulations on the model of RABBIT with nonlinear, hybrid, and underactuated dynamics. Numerical simulation results show that the FSQPA is feasible and effective. Copyright © 2015 John Wiley & Sons, Ltd.
Bibliografie:istex:E607B5997166DEF0E247E06F6DED7EB573F5D766
National High Technology Research and Development Program of China - No. 2006AA04Z251
Graduate Innovation Fund of Jilin University
Founds of Jilin Province Science and Technology - No. 2014636; No. 2015116
ArticleID:OCA2228
ark:/67375/WNG-8VDBZNTZ-V
Jilin University "985 Project" Engineering Bionic Science and Technology Innovation Platform and the National Natural Fund Project - No. 60974067
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ISSN:0143-2087
1099-1514
DOI:10.1002/oca.2228