Numerical Techniques for Optimization of Gait Generation

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2021/03/01

タイトル(英語): Numerical Techniques for Optimization of Gait Generation

著者名: Rodrigo Matos Carnier (Department of Electrical and Computer Engineering, Yokohama National University), Yasutaka Fujimoto (Department of Electrical and Computer Engineering, Yokohama National University)

著者名(英語): Rodrigo Matos Carnier (Department of Electrical and Computer Engineering, Yokohama National University), Yasutaka Fujimoto (Department of Electrical and Computer Engineering, Yokohama National University)

キーワード: bipedal walking，optimal control，whole-body dynamics

要約(英語): Optimization of robotic bipedal walking widely uses simplified dynamical models to minimize the computational cost and generate fast solutions, but this poses the problem of modeling errors and increased inaccuracy. Moreover, direct methods of optimization are almost always used; however, most are not implemented to satisfy Pontryagin's Principle, which can lead to suboptimal solutions. This study presents the optimization of planar robotic bipedal walking using exact dynamics. We apply pseudospectral optimal control to optimize gait generation using two accuracy requirements: nonlinear multi-degree-of-freedom whole-body dynamics and satisfied conditions of optimality according to Pontryagin's Principle. In order to consistently achieve solvability of optimization in this type of problem, we present a novel methodology consisting of synergic techniques that address well-known numerical difficulties of optimization.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 （2021） Special Issue Ⅰ on “Motion Control and its Related Technologies”　　Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 236-246 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/10/2/10_19012125/_article/-char/ja/